Vehicle carrying robot positioning detection method and system, storage medium and computer

Abstract

The invention relates to a vehicle carrying robot positioning detection method and system, a storage medium and a computer, and the method comprises the steps: S1, obtaining a station map of a parking station, and carrying out the rasterization of the station map, and obtaining a corresponding station grid map; s2, acquiring coordinate information corresponding to each parking space of the parking station, and determining a grid corresponding to each parking space on the station grid map according to the coordinate information of each parking space; s3, sampling connection processing is carried out on the grids corresponding to all the parking spaces, and a first legal action area of the corresponding car carrying robot is obtained; s4, space expansion processing is conducted on the first legal action area, and a second legal action area of the corresponding car carrying robot is obtained; and S5, according to the current position information of the vehicle carrying robot, determining a grid corresponding to the vehicle carrying robot on the site grid map, and judging whether the grid of the vehicle carrying robot is in the second legal action area or not, so that whether the vehicle carrying robot is in the legal area or not is detected, and the safety is high.

Description

Technical Field

[0001] The present invention relates to the field of robot positioning technology, and more specifically, to a method, system, storage medium and computer for detecting positioning of a vehicle handling robot. Background Art

[0002] For autonomous moving robot, the accuracy of positioning is crucial to the safety of the robot. If the robot positioning information is wrong, it may cause the robot to generate an incorrect path, causing the robot to deviate from the expected path when performing tasks, colliding with other obstacles, falling, and other accidents, which poses a serious safety hazard. In addition, for a three-dimensional parking garage, which has a complex environment with multiple floors and multiple maps, the positioning information needs to be restored when the robot moves to another floor; for this reason, we propose a positioning detection method, system, storage medium and computer for the robot. Summary of the invention

[0003] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method, system, storage medium and computer for detecting positioning of a transport robot, so as to overcome the technical problems existing in the existing autonomous transport robots in the above-mentioned background technology.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions: A method for positioning and detecting a vehicle handling robot, comprising:

[0005] S1. Obtain a site map of a parking site, and perform rasterization processing on the site map to obtain a corresponding site grid map;

[0006] S2, obtaining coordinate information corresponding to each parking space of the parking site, and determining the corresponding grid on the site grid map according to the coordinate information of each parking space;

[0007] S3, sampling and connecting the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding car moving robot;

[0008] S4, performing space expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot;

[0009] S5. Determine the grid corresponding to the moving robot on the site grid map according to the current position information of the moving robot, and judge whether the grid of the moving robot is within the second legal action area. If yes, the moving robot is within the legal area; if no, the moving robot is not within the legal area.

[0010] Optionally, the method of obtaining a site map of parking sites and rasterizing the site map to obtain a corresponding site grid map includes: setting a laser radar in the parking lot; obtaining a site map of parking sites in the parking lot by using the laser radar, and rasterizing the site map to obtain a corresponding site grid map.

[0011] Optionally, the acquiring coordinate information corresponding to each parking space of the parking site, and determining the corresponding grid on the site grid map according to the coordinate information corresponding to each parking space, includes:

[0012] The car moving robot moves to each parking space in the parking lot to obtain the coordinate information of each parking spot;

[0013] The corresponding grid on the station grid map is determined by the coordinate information of each parking spot.

[0014] Optionally, the sampling and connecting processing of the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding vehicle moving robot includes:

[0015] The grids corresponding to the parking spaces are connected by straight lines, and the grids that the straight lines pass through are occupied, so that the legal area becomes continuous in space.

[0016] Optionally, performing space expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot includes:

[0017] According to the positioning accuracy of the vehicle moving robot, the first legal action area is spatially expanded according to a predetermined rule to obtain a corresponding second legal action area of ​​the vehicle moving robot.

[0018] Optionally, step S5 further includes:

[0019] Obtain the current position information of the robot at time t through the laser radar and the last position information of the transport robot

[0020] in, x t is the value of the plane coordinate axis X axis, y t is the value of the Y coordinate axis, θ t is the posture angle value of the robot;

[0021] According to the current location information of the moving robot and the last position information of the moving robot Calculate the corresponding distance difference a and angle difference b;

[0022] in, a is the distance difference between the current position of the robot and the last position of the robot;

[0023] b=|θ t -θ t-1 |,b is the angle difference between the current position of the robot and the last position of the robot;

[0024] Comparing the distance difference and the angle difference with a preset allowable jump distance difference α and a preset allowable jump angle difference β;

[0025] If a<α, or b<β, then the grid of the vehicle handling robot is within the second legal action area;

[0026] If a>α, or b>β, the grid of the cart-moving robot is not within the second legal action area, and the cart-moving robot is repositioned.

[0027] Optionally, the repositioning of the vehicle handling robot includes:

[0028] Modeling static obstacles of the parking site, and generating a corresponding occupancy grid map according to the occupancy map;

[0029] Obtaining a third legal action area of ​​the vehicle moving robot on the occupation grid map according to the occupation grid map;

[0030] Acquire radar laser point cloud data of the car moving robot in the parking lot, and perform convex set sampling on the data;

[0031] The third legal action area is used as the initial solution space, and the laser point cloud after convex set sampling is used as the observation value to perform branch and bound search. The obtained coordinate information is the real-time positioning coordinate information of the robot.

[0032] A method and system for positioning and detecting a vehicle handling robot, comprising:

[0033] A map acquisition module is used to acquire a site map of a parking site, and to perform rasterization processing on the site map to obtain a corresponding site grid map;

[0034] A grid information acquisition module, used to acquire coordinate information corresponding to each parking space of the parking site, and determine the corresponding grid on the site grid map according to the coordinate information of each parking space;

[0035] A module is used to perform sampling and connection processing on the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding car moving robot;

[0036] An expansion module performs spatial expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot;

[0037] A judgment module is used to determine the corresponding grid on the site grid map according to the current position information of the vehicle moving robot, and judge whether the grid of the vehicle moving robot is within the second legal action area. If so, the vehicle moving robot is within the legal area; if not, the vehicle moving robot is not within the legal area.

[0038] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0039] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0040] The beneficial effects of the present invention are as follows: high safety, double detection of positioning data during the operation of the vehicle moving robot ensures reliable positioning; high real-time and accuracy, convex set sampling of lidar data greatly reduces the amount of data calculation, and branch and bound search based on legal areas can be performed for a large number of pruning, with extremely high computational efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a flow chart of a method for positioning and detecting a vehicle handling robot according to the present invention;

[0042] Figure 2 Generating a schematic diagram for the legal action area in the present invention;

[0043] Figure 3 It is a schematic diagram of convex set sampling in the present invention;

[0044] Figure 4 This is a structural block diagram of the robot transport positioning detection system provided by the present invention;

[0045] Figure 5 1 is a diagram showing the internal structure of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. Several embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0048] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions are for illustrative purposes only, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0049] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0050] The present invention provides a method for detecting the positioning of a vehicle moving robot. Figure 1 As shown, including: including:

[0051] S1. Obtain a site map of a parking site, and perform rasterization processing on the site map to obtain a corresponding site grid map;

[0052] S2, obtaining coordinate information corresponding to each parking space of the parking site, and determining the corresponding grid on the site grid map according to the coordinate information of each parking space;

[0053] S3, sampling and connecting the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding car moving robot;

[0054] S4, performing space expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot;

[0055] S5. Determine the grid corresponding to the moving robot on the site grid map according to the current position information of the moving robot, and judge whether the grid of the moving robot is within the second legal action area. If yes, the moving robot is within the legal area; if no, the moving robot is not within the legal area.

[0056] In practical applications, since the position of each parking space is determined when the parking site is established, a laser radar is set in the parking site. The site map of the parking site is obtained by the laser radar, and the site map is gridded to obtain the corresponding grid site map; the moving robot is moved to the coordinate information of the parking space in the parking site within its moving range, and the coordinate information of all parking spaces is saved as path points in the corresponding grids on the site grid map, and then the grids corresponding to all parking spaces are connected to obtain the first legal action area of ​​the corresponding moving robot, and the first legal action area is spatially expanded. The expansion range needs to be determined according to the positioning accuracy of the robot. This operation prevents the occurrence of false positives of legal area departure when the positioning jitters within a reasonable range; finally, by determining the corresponding grid on the site grid map according to the current position information of the moving robot, it is determined whether the grid of the moving robot is in the second legal action area. If yes, the moving robot is in the legal area, if not, the moving robot is not in the legal area, and the moving robot is in a positioning failure situation, then the moving robot needs to be repositioned.

[0057] Further, the obtaining of the site map of the parking site and rasterizing the site map to obtain the corresponding site grid map includes: setting a laser radar in the parking lot; obtaining the site map of the parking site in the parking lot by the laser radar, and rasterizing the site map to obtain the corresponding site grid map;

[0058] Specifically, a laser radar is installed in the parking site, and the laser radar information data of the parking site is obtained through the laser radar, and the laser radar information data is constructed into a corresponding site grid map.

[0059] Furthermore, the acquiring of coordinate information corresponding to each parking space of the parking site, and determining the corresponding grid on the site grid map according to the coordinate information corresponding to each parking space, includes:

[0060] The car moving robot moves to each parking space in the parking lot to obtain the coordinate information of each parking spot;

[0061] The corresponding grid on the station grid map is determined by the coordinate information of each parking spot.

[0062] Furthermore, the sampling and connecting processing is performed on the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding vehicle moving robot, including:

[0063] The grids corresponding to the parking spaces are connected by straight lines, and the grids that the straight lines pass through are occupied, so that the legal area becomes continuous in space.

[0064] Furthermore, the performing of space expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot includes:

[0065] According to the positioning accuracy of the robot, the first legal action area is spatially expanded according to the predetermined rules to obtain the corresponding second legal action area of ​​the robot. In practical applications,

[0066] In practical applications, such as Figure 2 As shown, the car moving robot is manually moved to each parking space at the parking station, and each parking space is used as a path point to read the coordinate information of the car. The grid on the grid map of the previous station is determined according to the coordinate information of the parking space. The grids corresponding to the parking spaces are connected by straight lines, and the grids passed by the straight lines are occupied, so that the legal area becomes continuous in space to obtain the first legal action area of ​​the car moving robot. The first legal action area is then spatially expanded to obtain the second legal action area of ​​the car moving robot. The expanded range needs to be determined according to the positioning accuracy of the robot. This operation prevents false positives from escaping from the legal area when the positioning jitters within a reasonable range.

[0067] Furthermore, the step S5 further includes:

[0068] Obtain the current position information of the robot at time t through the laser radar and the last position information of the transport robot

[0069] in, x t is the value of the plane coordinate axis X axis, y t is the value of the Y coordinate axis, θ t is the posture angle value of the robot;

[0070] According to the current location information of the moving robot and the last position information of the moving robot Calculate the corresponding distance difference a and angle difference b;

[0071] in, a is the distance difference between the current position of the robot and the last position of the robot;

[0072] b=|θ t -θ t-1 |,b is the angle difference between the current position of the robot and the last position of the robot;

[0073] Comparing the distance difference and the angle difference with a preset allowable jump distance difference α and a preset allowable jump angle difference β;

[0074] If a<α, or b<β, then the grid of the vehicle handling robot is within the second legal action area;

[0075] If a>α, or b>β, the grid of the cart-moving robot is not within the second legal action area, and the cart-moving robot is repositioned.

[0076] In practical applications, the laser radar coordinate system of the parking site is constructed through the laser radar to obtain the current position information of the car moving robot and the last position information of the moving robot in, x t is the value of the plane coordinate axis X axis, y t is the value of the Y coordinate axis, θ t is the posture angle value of the robot; according to the formula:

[0077] and b = |θ t -θ t-1 |,

[0078] Calculate the current position information of the car moving robot and the last position information of the moving robot The distance difference and angle difference are obtained; wherein a is the distance difference between the current position of the vehicle handling robot and the position of the vehicle handling robot at the last moment; b is the angle difference between the current position of the vehicle handling robot and the position of the vehicle handling robot at the last moment; the obtained distance difference a and angle difference b are compared with the preset allowable jump distance difference α and the preset allowable jump angle difference β, wherein the preset allowable jump distance difference α and the preset allowable jump angle difference β are compared and can be set according to the actual site size of the parking space at the parking station; if a<α, or b<β, the grid of the vehicle handling robot is within the second legal action area; if a>α, or b>β, the grid of the vehicle handling robot is not within the second legal action area, and the vehicle handling robot is repositioned.

[0079] Furthermore, the repositioning of the vehicle handling robot includes:

[0080] Modeling static obstacles of the parking site, and generating a corresponding occupancy grid map according to the occupancy map;

[0081] Obtaining a third legal action area of ​​the vehicle moving robot on the occupation grid map according to the occupation grid map;

[0082] Acquire radar laser point cloud data of the car moving robot in the parking lot, and perform convex set sampling on the data;

[0083] The third legal action area is used as the initial solution space, and the laser point cloud after convex set sampling is used as the observation value to perform branch and bound search, and the obtained coordinate information is the real-time positioning coordinate information of the vehicle handling robot.

[0084] In practical applications, the method for relocating the robot mainly includes: constructing an occupancy grid map according to the laser radar point cloud data of the parking site, obtaining the third legal action area of ​​the robot on the occupancy grid map through the occupancy grid map and constructing a legal area map, and obtaining the best posture of the robot by adopting convex set sampling and branch and bound algorithm of legal area to obtain the real-time positioning coordinate information of the robot. The algorithm flow is as follows:

[0085] 1. Construct an occupancy grid map and model static obstacles to generate an occupancy grid map

[0086] 2. Build a legal area map;

[0087] 3. Convex set sampling is performed on the laser radar, which retains the original shape characteristics of the original data while greatly reducing the amount of data, such as Figure 3 As shown;

[0088] 4. Use the legal area as the initial solution space and the laser point cloud after convex set sampling as the observation value for branch and bound search; using the legal area as the initial solution space can prune a large amount of unnecessary space to improve search efficiency and matching accuracy.

[0089] The present invention also provides a positioning detection method for a car moving robot, which has high safety. During the operation of the car moving robot, double detection of the positioning data is performed to ensure reliable positioning. It has high real-time and accuracy, and convex set sampling is performed on the lidar data, which greatly reduces the amount of data calculation. At the same time, branch and bound search is performed according to the legal area, which can perform a large amount of pruning and has extremely high computational efficiency.

[0090] like Figure 4 As shown, the present invention also provides a vehicle handling robot positioning detection system comprising:

[0091] S10, a map acquisition module, used to acquire a site map of a parking site, and perform rasterization processing on the site map to obtain a corresponding site grid map;

[0092] S20, a grid information acquisition module, used to acquire coordinate information corresponding to each parking space of the parking site, and determine the grid corresponding to each parking space on the site grid map according to the coordinate information of each parking space;

[0093] S30, using a module for performing sampling and connection processing on grids corresponding to all parking spaces to obtain a first legal action area of ​​the corresponding car moving robot;

[0094] S40, an expansion module, configured to perform spatial expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot;

[0095] S50, a judgment module, is used to determine the corresponding grid on the site grid map according to the current position information of the vehicle moving robot, and judge whether the grid of the vehicle moving robot is within the second legal action area. If so, the vehicle moving robot is within the legal area; if not, the vehicle moving robot is not within the legal area.

[0096] For the specific definition of a vehicle handling robot positioning detection system, please refer to the definition of a vehicle handling robot positioning detection method mentioned above, which will not be repeated here. Each module in the above-mentioned vehicle handling robot positioning detection method system can be implemented in whole or in part through software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0097] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned vehicle handling robot positioning detection method are implemented.

[0098] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. When the computer program is executed by the processor, a method for positioning and detecting a vehicle handling robot is implemented.

[0099] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0100] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related 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 memory, storage, database or other storage medium used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0101] The technical features of the above embodiments may be arbitrarily combined. 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.

[0102] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for detecting positioning of a vehicle handling robot, characterized in that: include: S1. Obtain a site map of a parking site, and perform rasterization processing on the site map to obtain a corresponding site grid map; S2, obtaining coordinate information corresponding to each parking space of the parking site, and determining the corresponding grid on the site grid map according to the coordinate information of each parking space; S3, sampling and connecting the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding car moving robot; S4, performing space expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot; S5. Determine the grid corresponding to the moving robot on the site grid map according to the current position information of the moving robot, and judge whether the grid of the moving robot is within the second legal action area. If yes, the moving robot is within the legal area; if no, the moving robot is not within the legal area.

2. The method for detecting the positioning of a vehicle handling robot according to claim 1, characterized in that: The method of obtaining a site map of a parking site and rasterizing the site map to obtain a corresponding site grid map includes: setting a laser radar in a parking lot; obtaining a site map of a parking site in the parking lot by using the laser radar, and rasterizing the site map to obtain a corresponding site grid map.

3. The method for detecting the positioning of a vehicle handling robot according to claim 2, characterized in that: The step of obtaining coordinate information corresponding to each parking space of the parking site and determining the corresponding grid on the site grid map according to the coordinate information corresponding to each parking space includes: The car moving robot moves to each parking space in the parking lot to obtain the coordinate information of each parking spot; The corresponding grid on the station grid map is determined by the coordinate information of each parking spot.

4. The method for detecting the positioning of a vehicle handling robot according to claim 3, characterized in that: The sampling and connecting processing of the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding car moving robot includes: The grids corresponding to the parking spaces are connected by straight lines, and the grids that the straight lines pass through are occupied, so that the legal area becomes continuous in space.

5. The method for detecting the positioning of a vehicle handling robot according to claim 4, characterized in that: The performing of spatial expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot includes: According to the positioning accuracy of the vehicle moving robot, the first legal action area is spatially expanded according to a predetermined rule to obtain a corresponding second legal action area of ​​the vehicle moving robot.

6. The method for detecting the positioning of a vehicle handling robot according to claim 5, characterized in that: The step S5 further comprises: Obtain the current position information of the robot at time t through the laser radar and the last moment's location information of the transport robot in, x t is the value of the plane coordinate axis X axis, y t is the value of the Y coordinate axis, θ t is the posture angle value of the car-moving robot; According to the current location information of the moving robot and the last position information of the moving robot Calculate the corresponding distance difference a and angle difference b; in, a is the distance difference between the current position of the robot and the last position of the robot; b=|θ t -θ t-1 |,b is the angle difference between the current position of the robot and the last position of the robot; Comparing the distance difference and the angle difference with a preset allowable jump distance difference α and a preset allowable jump angle difference β; If a<α, or b<β, then the grid of the vehicle handling robot is within the second legal action area; If a>α, or b>β, the grid of the cart-moving robot is not within the second legal action area, and the cart-moving robot is repositioned.

7. The method for detecting the positioning of a vehicle handling robot according to claim 6, characterized in that: The repositioning process of the vehicle handling robot includes: Modeling static obstacles of the parking site, and generating a corresponding occupancy grid map according to the occupancy map; Obtaining a third legal action area of ​​the vehicle moving robot on the occupation grid map according to the occupation grid map; Acquire radar laser point cloud data of the car moving robot in the parking lot, and perform convex set sampling on the data; The third legal action area is used as the initial solution space, and the laser point cloud after convex set sampling is used as the observation value to perform branch and bound search, and the obtained coordinate information is the real-time positioning coordinate information of the vehicle handling robot.

8. A method and system for positioning and detecting a vehicle handling robot, characterized in that: include: A map acquisition module is used to acquire a site map of a parking site, and to perform rasterization processing on the site map to obtain a corresponding site grid map; A grid information acquisition module, used to acquire coordinate information corresponding to each parking space of the parking site, and determine the corresponding grid on the site grid map according to the coordinate information of each parking space; A module is used to perform sampling and connection processing on the grids corresponding to all parking spaces to obtain the first legal action area of ​​the corresponding car moving robot; An expansion module performs spatial expansion processing on the first legal action area to obtain a corresponding second legal action area of ​​the vehicle moving robot; A judgment module is used to determine the corresponding grid on the site grid map according to the current position information of the vehicle moving robot, and judge whether the grid of the vehicle moving robot is within the second legal action area. If so, the vehicle moving robot is within the legal area; if not, the vehicle moving robot is not within the legal area.

9. 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 7 are implemented.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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