CN109031205B - Robot positioning device, method and robot - Google Patents
Robot positioning device, method and robot Download PDFInfo
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- CN109031205B CN109031205B CN201810794849.9A CN201810794849A CN109031205B CN 109031205 B CN109031205 B CN 109031205B CN 201810794849 A CN201810794849 A CN 201810794849A CN 109031205 B CN109031205 B CN 109031205B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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Abstract
The invention provides a robot positioning device, a robot positioning method and a robot, wherein the device comprises a first ultrasonic sensor, a second ultrasonic sensor, a first ultrasonic emission source, a second ultrasonic emission source and a positioning module, wherein the first ultrasonic sensor and the second ultrasonic sensor are arranged on the robot, and the first ultrasonic emission source and the second ultrasonic emission source are arranged on a robot charging pile; the first ultrasonic wave emission source is used for emitting a first ultrasonic wave signal outwards; the first ultrasonic sensor is used for receiving a first ultrasonic signal and obtaining first ranging information; the second ultrasonic wave emission source is used for emitting a second ultrasonic wave signal outwards; the second ultrasonic sensor is used for receiving a second ultrasonic signal and acquiring second ranging information; the positioning module is used for obtaining positioning information of the robot according to the first ranging information and the second ranging information. The invention can realize the absolute positioning of the robot in the dynamic environment with large indoor pedestrian flow.
Description
Technical Field
The invention relates to the field of robot positioning technology, in particular to a robot positioning device, a robot positioning method and a robot.
Background
The positioning of the robot, i.e. the recognition of the robot to the position of the robot, is a precondition for completing the construction of a map and the planning of a path by the mobile robot. Specifically, the accurate estimation of the current pose is obtained through algorithm processing according to input information such as a map, position estimation, sensor observation and the like.
The robot positioning relies on an external sensor to obtain information such as a GPS, a global road sign, a global map and the like, and is absolute positioning. The application of absolute positioning in outdoor and indoor environments is differentiated: GPS is widely used for outdoor absolute positioning, whereas in an indoor environment, environmental information is typically detected with a laser radar, a vision sensor, and ultrasonic waves, and the information is matched with a global landmark or a global map to obtain a positioning result.
At present, a positioning algorithm for indoor absolute positioning cannot adapt to a dynamic environment with large pedestrian flow. In such an environment, the map varies from moment to moment, and the positioning difficulty is high.
Disclosure of Invention
In view of the above, the present invention provides a robot positioning device, a robot positioning method, and a robot, so as to alleviate the technical problem that the indoor absolute positioning algorithm cannot adapt to a dynamic environment with a large human traffic.
In a first aspect, an embodiment of the present invention provides a robot positioning device, including a first ultrasonic sensor, a second ultrasonic sensor, a first ultrasonic emission source, a second ultrasonic emission source, and a positioning module, where the first ultrasonic sensor and the second ultrasonic sensor are disposed on a robot, and the first ultrasonic emission source and the second ultrasonic emission source are disposed on a robot charging pile;
the first ultrasonic wave emission source is used for emitting a first ultrasonic wave signal outwards;
the first ultrasonic sensor is used for receiving the first ultrasonic signal and obtaining first ranging information;
the second ultrasonic wave emission source is used for emitting a second ultrasonic wave signal outwards;
the second ultrasonic sensor is used for receiving the second ultrasonic signal and obtaining second ranging information;
and the positioning module is used for obtaining the positioning information of the robot according to the first ranging information and the second ranging information.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the positioning information includes coordinates of a center position and an azimuth of the robot, and the positioning module is further configured to:
calculating a first distance between the first ultrasonic emission source and the center position of the robot according to the first ranging information;
calculating a second distance between the second ultrasonic emission source and the center position of the robot according to the second ranging information;
obtaining the center position coordinate according to the first distance and the second distance;
and obtaining the azimuth angle of the robot according to the first ranging information or the second ranging information.
In a second aspect, an embodiment of the present invention provides a robot positioning method, to which the robot positioning apparatus described above is applied, the method including:
acquiring first ranging information between a first ultrasonic emission source and information acquired by a first ultrasonic sensor;
acquiring second ranging information between a second ultrasonic emission source and second ultrasonic information acquired by a second ultrasonic sensor;
and obtaining the positioning information of the robot according to the first ranging information and the second ranging information.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the positioning information includes a center position coordinate and an azimuth of the robot, and the step of obtaining the positioning information of the robot according to the first ranging information and the second ranging information includes:
calculating a first distance between the first ultrasonic emission source and the center position of the robot according to the first ranging information;
calculating a second distance between the second ultrasonic emission source and the center position of the robot according to the second ranging information;
obtaining the center position coordinate according to the first distance and the second distance;
and obtaining the azimuth angle of the robot according to the first ranging information or the second ranging information.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the first ranging information includes a first ranging value and a second ranging value, and the step of calculating a first distance between the first ultrasonic emission source and a center position of the robot according to the first ranging information includes:
obtaining a first position coordinate of the first ultrasonic emission source in a robot coordinate system according to the first ranging value and the second ranging value;
and obtaining the first distance between the first ultrasonic emission source and the center position of the robot according to the first position coordinate.
With reference to the second possible implementation manner of the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, wherein the step of obtaining an azimuth angle of the robot according to the first ranging information includes:
obtaining a first azimuth angle of the first ultrasonic emission source in the robot coordinate system and a second azimuth angle of the first ultrasonic emission source in a global coordinate system according to the first position coordinate;
and obtaining the azimuth angle of the robot according to the first azimuth angle and the second azimuth angle.
In a third aspect, an embodiment of the present invention further provides a robot, including the robot positioning device as described above, further including a robot body; the robot body is provided with a plurality of ultrasonic sensors.
In combination with the third aspect, the present disclosure provides a first possible implementation manner of the third aspect, wherein a doll machine is connected to the robot body, and a plurality of ultrasonic sensors are disposed on the doll machine.
In combination with the first possible implementation manner of the third aspect, the present examples provide a second possible implementation manner of the third aspect, wherein the robot body has a circular cross section, the doll has a square cross section, and the back of the robot body is connected to the doll.
With reference to the second possible implementation manner of the third aspect, the present disclosure provides a third possible implementation manner of the third aspect, wherein a control panel is disposed on the robot body, and the doll is controlled through the control panel.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a robot positioning device, a robot positioning method and a robot, wherein the device comprises a first ultrasonic sensor, a second ultrasonic sensor, a first ultrasonic emission source, a second ultrasonic emission source and a positioning module, wherein the first ultrasonic sensor and the second ultrasonic sensor are arranged on the robot, and the first ultrasonic emission source and the second ultrasonic emission source are arranged on a robot charging pile; the first ultrasonic wave emission source is used for emitting a first ultrasonic wave signal outwards; the first ultrasonic sensor is used for receiving a first ultrasonic signal and obtaining first ranging information; the second ultrasonic wave emission source is used for emitting a second ultrasonic wave signal outwards; the second ultrasonic sensor is used for receiving a second ultrasonic signal and acquiring second ranging information; the positioning module is used for obtaining positioning information of the robot according to the first ranging information and the second ranging information. The ultrasonic wave emission source is arranged on the charging pile and used as a global positioning road sign, the ultrasonic wave sensor arranged on the robot is adopted to receive the ultrasonic wave signal of the ultrasonic wave emission source, and the absolute positioning of the robot can be realized in a dynamic environment with large indoor people flow according to the distance measuring information.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a robot positioning device according to an embodiment of the present invention;
FIG. 2 is a flowchart of a robot positioning method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a robot positioning method according to another embodiment of the present invention;
fig. 4 is a schematic positioning diagram of a robot positioning method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Icon: 10-a first ultrasound emitting source; 20-a second ultrasound emitting source; 30-a first ultrasonic sensor; 40-a second ultrasonic sensor; 50-a positioning module; 1-a robot body; 2-a doll machine; 3-an ultrasonic sensor; 1000-an electronic device; 500-a processor; 501-a memory; 502-a bus; 503 — a communication interface.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, a positioning algorithm for indoor absolute positioning cannot be well adapted to a dynamic environment with large pedestrian volume. In such an environment, the map varies from moment to moment, and the positioning difficulty is high. Based on the above, the robot positioning device, the robot positioning method and the robot provided by the embodiments of the present invention can realize indoor absolute positioning of the robot in a dynamic environment with a large human flow.
For the understanding of the present embodiment, a detailed description will be given to a robot positioning device disclosed in the present embodiment.
As shown in fig. 1, the robot positioning device provided in this embodiment includes a first ultrasonic sensor 30, a second ultrasonic sensor 40, a first ultrasonic emission source 10, a second ultrasonic emission source 20, and a positioning module 50, where the first ultrasonic sensor 30 and the second ultrasonic sensor 40 are disposed on a robot, and the first ultrasonic emission source 10 and the second ultrasonic emission source 20 are disposed on a robot charging pile;
a first ultrasonic wave emitting source 10 for emitting a first ultrasonic wave signal to the outside;
the first ultrasonic sensor 30 is configured to receive the first ultrasonic signal and obtain first ranging information;
a second ultrasonic wave emitting source 20 for emitting a second ultrasonic wave signal outwardly;
the second ultrasonic sensor 40 is used for receiving a second ultrasonic signal and obtaining second ranging information;
and the positioning module 50 is configured to obtain positioning information of the robot according to the first ranging information and the second ranging information.
Specifically, be provided with a plurality of ultrasonic sensor on the robot, set up first ultrasonic emission source 10 and second ultrasonic emission source 20 on filling electric pile, fill electric pile fixed placement, generally the wall body isoplanar behind. By proper arrangement, the ultrasonic wave can cover the range of 180 degrees in front of the emission source, for example, a wide-angle ultrasonic emission source is adopted. When the robot starts a positioning task, a first ultrasonic wave emitting source 10 sends a first ultrasonic wave signal outwards, ultrasonic sensors on the robot are started, and the serial numbers and the distance measurement values of two ultrasonic sensors with the shortest distance measurement values are recorded, wherein the two ultrasonic sensors are the first ultrasonic sensors 30, and the first distance measurement information is the distance measurement values of the two ultrasonic sensors; next, the first ultrasonic wave emitting source 10 is turned off, the second ultrasonic wave emitting source 20 is turned on, the numbers and the distance measurement values of the two ultrasonic wave sensors with the shortest distance measurement values are recorded for the second time, the two ultrasonic wave sensors are recorded for the second time, that is, the second ultrasonic wave sensor 40, and the second distance measurement information is the distance measurement values of the two ultrasonic wave sensors recorded for the second time.
First ultrasonic emission source 10 and second ultrasonic emission source 20 on will filling electric pile of this embodiment are as global positioning signpost, adopt the ultrasonic sensor who sets up on the robot to receive the ultrasonic signal of ultrasonic emission source, can realize the absolute positioning of robot in the great dynamic environment of indoor people flow according to range finding information.
Further, the positioning information of the robot includes the coordinates of the center position and the azimuth angle of the robot, and the positioning module 50 is further configured to: calculating a first distance between the first ultrasonic emission source 10 and the center position of the robot according to the first ranging information; calculating a second distance between the second ultrasonic emission source 20 and the center position of the robot according to the second ranging information; obtaining a center position coordinate according to the first distance and the second distance; and obtaining the azimuth angle of the robot according to the first ranging information or the second ranging information.
Specifically, the first ranging information includes a first ranging value and a second ranging value, and a first position coordinate of the first ultrasonic emission source 10 in the robot coordinate system is obtained according to the first ranging value and the second ranging value; and obtaining a first distance between the first ultrasonic emission source 10 and the center position of the robot according to the first position coordinate. Likewise, a second distance of the second ultrasound emitting source 20 from the center position of the robot may be acquired.
Obtaining a first azimuth angle of the first ultrasonic emission source 10 in the robot coordinate system and a second azimuth angle of the first ultrasonic emission source 10 in the global coordinate system according to a first position coordinate of the first ultrasonic emission source 10 in the robot coordinate system; and obtaining the azimuth angle of the robot according to the first azimuth angle and the second azimuth angle.
The embodiment can realize real-time and high-robustness positioning in a dynamic environment with large pedestrian volume, such as a shopping mall, and simultaneously reduce the hardware cost as much as possible. Through carrying on two ultrasonic emission sources on the electric pile is filled to the robot, the robot surface is equipped with ultrasonic sensor, has realized the indoor absolute positioning of robot through handling the range finding information that receives.
As shown in fig. 2, the present embodiment further provides a robot positioning method using the robot positioning device, where the method includes the following steps:
step S101, acquiring first distance measurement information between a first ultrasonic wave emission source and information acquired by a first ultrasonic wave sensor;
step S102, second distance measurement information between the second ultrasonic wave emission source and the second ultrasonic wave sensor is acquired;
and step S103, obtaining positioning information of the robot according to the first ranging information and the second ranging information.
Further, the positioning information includes coordinates of the center position and the azimuth of the robot, as shown in fig. 3, step S103 includes the steps of:
step S201, calculating a first distance between a first ultrasonic emission source and the center position of the robot according to the first ranging information;
step S202, calculating a second distance between a second ultrasonic emission source and the center position of the robot according to second ranging information;
step S203, obtaining a center position coordinate according to the first distance and the second distance;
and step S204, obtaining the azimuth angle of the robot according to the first ranging information or the second ranging information.
Further, the first ranging information includes a first ranging value and a second ranging value, and step S201 includes: obtaining a first position coordinate of the first ultrasonic emission source under the robot coordinate system according to the first distance measurement value and the second distance measurement value; and obtaining a first distance between the first ultrasonic emission source and the center position of the robot according to the first position coordinate. Likewise, a second distance of the second ultrasound emitting source from the center position of the robot may be acquired.
Further, the step of obtaining the azimuth angle of the robot according to the first ranging information includes:
obtaining a first azimuth angle of the first ultrasonic emission source in the robot coordinate system and a second azimuth angle of the first ultrasonic emission source in the global coordinate system according to the first position coordinate; and obtaining the azimuth angle of the robot according to the first azimuth angle and the second azimuth angle.
Fig. 4 shows a positioning diagram of a robot positioning method provided by an embodiment of the invention.
As shown in fig. 4, the robot includes a robot body, and a doll may be further disposed on the robot body, where a point a on the charging pile of the robot is provided with a first ultrasonic emission source, and a point B is provided with a second ultrasonic emission source. The result of the robot positioning is that the robot takes the charging pile as the origin point of the global pose, and under the global coordinate taking the charging pile as the origin point of the global pose, the pose of the robot is (x)ryrθr) Including the center position coordinates (x) of the robotryr) And azimuth angle thetar. Let L be the nearest distance measurement value obtained by the first ultrasonic emission sourceA1And LA2The corresponding ultrasonic sensor is SA1And SA2Second ultrasonic emissionThe nearest range value obtained by the source is LB1And LB2The corresponding ultrasonic sensor is SB1And SB2，
First, the center position coordinates (x) of the robot are obtainedryr). Considering the first ultrasonic emission source at point a, the first ultrasonic emission source is fixedly mounted on the robot, so that the pose of the first ultrasonic emission source relative to the robot is fixed. A Circle is represented by Circle (O, r), where O is the center of the Circle and r is the radius. Then under the robot coordinate system, a Circle (S) can be obtainedA1,LA1) And a Circle (S)A2,LA2) The intersection Of the two Circles is found by the function Get _ InterSectionPoints _ Of _2_ Circles (Circle1, Circle 2). The intersection of the two circles (the one with the significant error in the two intersections filtered out) is the coordinates of the first ultrasound emitter in the robot coordinate system. From the coordinates, a line segment AO can be obtainedrLength of (d). Similar operation is carried out on the second ultrasonic emission source to obtain a line segment BOrLength of (d). For Circle (A, AO)r) And Circle (B, BO)r) And solving the intersection point to obtain the coordinate of the intersection point, namely the coordinate of the center position of the robot.
Then, the azimuth angle θ of the robot is obtainedr. Considering point a first, as shown in fig. 4, it can be seen that,
wherein
Is the orientation of the point A under the robot coordinate system,
as vector O under global coordinatesrThe orientation of A, the two angles above, can be determined by the atan2 function. Thus the orientation angle theta of the robotrThe value can be obtained by the formula (1). Where the atan2 function returns the azimuth from the origin to point (x, y), i.e., the angle to the x-axis. But also the argument of the complex number x + yi.
According to the embodiment, the ultrasonic emission source is equipped on the charging pile to serve as a global positioning road sign, the ultrasonic sensor on the robot only serves as a receiver, signals of the emission source are received to be positioned, and the positioning algorithm based on geometric relation and triangulation positioning is simple, effective and strong in robustness.
As shown in fig. 5, the present embodiment further provides a robot, including the robot positioning device, further including a robot body 1; the robot body is provided with a plurality of ultrasonic sensors 3.
The robot body 1 is connected with a doll machine 2, and the doll machine 2 is provided with a plurality of ultrasonic sensors 3.
Specifically, the cross section of the robot body 1 is circular, the cross section of the doll machine 2 is square, and the back of the robot body 1 is connected with the doll machine 2.
The present embodiment may combine the robot body 1 with the doll machine 2. The robot body 1 is provided with an operation panel, and the doll machine 2 is controlled through the operation panel. The image of the robot can also be used to attract passenger flow.
The robot provided by the embodiment of the invention has the same technical characteristics as the robot positioning device provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the robot positioning method provided in the above embodiment are implemented.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of positioning the robot in the above-mentioned embodiment are performed.
Referring to fig. 6, an embodiment of the present invention further provides an electronic device 1000, including: the processor 500, the memory 501, the bus 502 and the communication interface 503, wherein the processor 500, the communication interface 503 and the memory 501 are connected through the bus 502; the memory 501 is used to store programs; the processor 500 is used to invoke a program stored in the memory 501 via the bus 502 to perform the robot positioning of the above-described embodiments.
The Memory 501 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 503 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
Bus 502 can be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.
The memory 501 is used for storing a program, and the processor 500 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 500, or implemented by the processor 500.
The processor 500 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 500. The Processor 500 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 501, and the processor 500 reads the information in the memory 501, and completes the steps of the method in combination with the hardware thereof.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The computer program product for performing the robot positioning method provided in the embodiment of the present invention includes a computer-readable storage medium storing a nonvolatile program code executable by a processor, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A robot positioning device is characterized by comprising a first ultrasonic sensor, a second ultrasonic sensor, a first ultrasonic emission source, a second ultrasonic emission source and a positioning module, wherein the first ultrasonic sensor and the second ultrasonic sensor are arranged on a robot, the robot is provided with a plurality of ultrasonic sensors, and the first ultrasonic emission source and the second ultrasonic emission source are arranged on a robot charging pile;
the first ultrasonic emission source is used for emitting a first ultrasonic signal outwards after being started;
the first ultrasonic sensor is used for receiving the first ultrasonic signal and obtaining first ranging information; the first ultrasonic sensors are two ultrasonic sensors closest to the first ultrasonic emission source, and the first ranging information comprises a first ranging value and a second ranging value;
the second ultrasonic emission source is used for being turned on after the first ultrasonic emission source is turned off and emitting a second ultrasonic signal outwards;
the second ultrasonic sensor is used for receiving the second ultrasonic signal and obtaining second ranging information; the second ultrasonic sensors are two ultrasonic sensors closest to the second ultrasonic emission source, and the second ranging information comprises a third ranging value and a fourth ranging value;
and the positioning module is used for obtaining the positioning information of the robot according to the first ranging information and the second ranging information.
2. The apparatus of claim 1, wherein the positioning information comprises a center position coordinate and an azimuth angle of the robot, and wherein the positioning module is further configured to:
calculating a first distance between the first ultrasonic emission source and the center position of the robot according to the first ranging information;
calculating a second distance between the second ultrasonic emission source and the center position of the robot according to the second ranging information;
obtaining the center position coordinate according to the first distance and the second distance;
and obtaining the azimuth angle of the robot according to the first ranging information or the second ranging information.
3. A robot positioning method using the robot positioning apparatus according to claim 1 or 2, the robot having a plurality of ultrasonic sensors provided thereon, the method comprising:
acquiring first ranging information between a first ultrasonic emission source and information acquired by a first ultrasonic sensor; the first ultrasonic sensors are two ultrasonic sensors closest to the first ultrasonic emission source, and the first ranging information comprises a first ranging value and a second ranging value;
acquiring second ranging information between a second ultrasonic emission source and second ultrasonic information acquired by a second ultrasonic sensor; the second ultrasonic sensors are two ultrasonic sensors closest to the second ultrasonic emission source, and the second ranging information comprises a first ranging value and a second ranging value;
and obtaining the positioning information of the robot according to the first ranging information and the second ranging information.
4. The method of claim 3, wherein the positioning information comprises coordinates of a center position and an azimuth angle of the robot, and the step of obtaining the positioning information of the robot from the first ranging information and the second ranging information comprises:
calculating a first distance between the first ultrasonic emission source and the center position of the robot according to the first ranging information;
calculating a second distance between the second ultrasonic emission source and the center position of the robot according to the second ranging information;
obtaining the center position coordinate according to the first distance and the second distance;
and obtaining the azimuth angle of the robot according to the first ranging information or the second ranging information.
5. The method of claim 3, wherein the first ranging information includes a first ranging value and a second ranging value, and wherein the step of calculating the first distance from the center position of the robot to the first ultrasound emitting source based on the first ranging information includes:
obtaining a first position coordinate of the first ultrasonic emission source in a robot coordinate system according to the first ranging value and the second ranging value;
and obtaining the first distance between the first ultrasonic emission source and the center position of the robot according to the first position coordinate.
6. The method of claim 5, wherein the step of obtaining the azimuth of the robot from the first ranging information comprises:
obtaining a first azimuth angle of the first ultrasonic emission source in the robot coordinate system and a second azimuth angle of the first ultrasonic emission source in a global coordinate system according to the first position coordinate;
and obtaining the azimuth angle of the robot according to the first azimuth angle and the second azimuth angle.
7. A robot comprising the robot positioning device according to claim 1 or 2, and further comprising a robot body; the robot body is provided with a plurality of ultrasonic sensors.
8. The robot of claim 7, wherein a doll is attached to said robot body, said doll having a plurality of said ultrasonic sensors disposed thereon.
9. The robot of claim 8, wherein the robot body is circular in cross-section and the doll is square in cross-section, and wherein the back of the robot body is attached to the doll.
10. The robot as claimed in claim 8, wherein a manipulation panel is provided on the robot body, and the doll is controlled through the manipulation panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810794849.9A CN109031205B (en) | 2018-07-18 | 2018-07-18 | Robot positioning device, method and robot |
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| CN201810794849.9A CN109031205B (en) | 2018-07-18 | 2018-07-18 | Robot positioning device, method and robot |
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| CN111596257B (en) * | 2020-07-22 | 2020-11-03 | 上海擎朗智能科技有限公司 | Robot starting positioning method and device, electronic equipment and storage medium |
| CN112767597A (en) * | 2020-07-31 | 2021-05-07 | 支付宝(杭州)信息技术有限公司 | Intelligent device for displaying articles and method of article monitoring |
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