WO2022127541A1 - 一种机器人及定位方法 - Google Patents

一种机器人及定位方法 Download PDF

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Publication number
WO2022127541A1
WO2022127541A1 PCT/CN2021/132787 CN2021132787W WO2022127541A1 WO 2022127541 A1 WO2022127541 A1 WO 2022127541A1 CN 2021132787 W CN2021132787 W CN 2021132787W WO 2022127541 A1 WO2022127541 A1 WO 2022127541A1
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WO
WIPO (PCT)
Prior art keywords
information
positioning reference
robot
position information
distance information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/132787
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English (en)
French (fr)
Inventor
王华培
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Geekplus Technology Co Ltd
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Beijing Geekplus Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Geekplus Technology Co Ltd filed Critical Beijing Geekplus Technology Co Ltd
Priority to JP2023534990A priority Critical patent/JP7657303B2/ja
Priority to US18/256,223 priority patent/US12157635B2/en
Priority to KR1020237020603A priority patent/KR102757125B1/ko
Priority to EP21905470.7A priority patent/EP4266142A4/en
Publication of WO2022127541A1 publication Critical patent/WO2022127541A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
    • G05D1/2446—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means the passive navigation aids having encoded information, e.g. QR codes or ground control points
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

Definitions

  • the present disclosure relates to the field of robots, and in particular, to a robot and a positioning method.
  • robots have been widely used in various intelligent warehousing systems. According to different cargo transportation requirements, the types of robots have also begun to diversify. Different types of robots are used in different cargo transportation scenarios. In the process of cargo transportation by robots, in order to ensure the safety of the transportation process and the accuracy of the transportation results , it is necessary to position the robot, and use the positioning information to ensure the integrity of the transportation process.
  • the robot in the intelligent storage system is usually positioned based on the position of the two-dimensional code deployed on the ground of the storage space.
  • the robot By equipping the robot with an identification camera, the robot is deployed on the ground of the storage space by scanning the position moved by the identification camera during the movement of the robot. to obtain the two-dimensional code information, and obtain the positioning information according to the two-dimensional code information.
  • the robot for position positioning based on visual information needs to deploy a QR code on the ground at each cargo box position, which increases the cost of QR code deployment and maintenance.
  • the distance between the two-dimensional codes is very small, which increases the difficulty of scanning the two-dimensional code by the identification camera to obtain positioning information, and reduces the reliability of positioning.
  • the embodiments of the present disclosure provide at least a robot and a positioning method.
  • an embodiment of the present disclosure provides a robot, including a robot processor, an identification component, and a positioning component, wherein:
  • the identification component is used to obtain the distance information between the identification component and the positioning reference object on each side respectively and send it to the robot processor in the case that the positioning reference objects on both sides are detected during the movement of the robot;
  • the positioning component configured to acquire first position information and send it to the robot processor when the identification component identifies the positioning reference object
  • the robot processor is configured to determine the center position information of the positioning reference objects on both sides according to the received distance information from each side positioning reference object and the first position information; according to the center position information and the The first position information determines a movement control parameter; and the robot is controlled to move according to the center position information based on the movement control parameter.
  • the identification component includes a laser component, and the laser component emits detection laser light to both sides according to preset angle information;
  • the robot processor is specifically configured to determine the reference position information corresponding to the positioning reference object on each side according to the distance information, the preset angle information and the first position information; according to the positioning reference object corresponding to each side The reference position information is determined, and the center position information of the positioning reference objects on both sides is determined.
  • the distance information includes first distance information between the laser assembly and a first positioning reference object and second distance information between the laser assembly and a second positioning reference object
  • the preset angle information includes first angle information for identifying the first positioning reference object and second angle information for identifying the second positioning reference object
  • the reference position information includes second position information for the first positioning reference object and second position information for the first positioning reference object. the third position information of the second positioning reference, and
  • the robot processor is specifically configured to determine the second position information of the first positioning reference object according to the first distance information, the first angle information and the distance information between the laser assembly and the robot center; Determine the third position information of the second positioning reference object according to the second distance information, the second angle information and the distance information between the laser assembly and the robot center; according to the second position information and the The third position information is used to determine the center position information of the first positioning reference object and the second positioning reference object.
  • the identification component includes a binocular camera component
  • the binocular camera component includes a first camera component and a second camera component
  • the distance information includes the first camera component and the first positioning
  • the robot processor is specifically set to be based on the third distance information, the fourth distance information, the seventh distance information between the first camera assembly and the second camera assembly, the first camera assembly and the second camera assembly and the robot
  • the eighth distance information and the ninth distance information between the centers determine the tenth distance information and the third angle information; according to the tenth distance information and the third angle information, determine the first positioning reference object corresponding to the Four position information; according to the fifth distance information, the sixth distance information, the seventh distance information, the eighth distance information and the ninth distance information, determine the eleventh distance information and the fourth angle information, according to the eleventh distance information
  • the fifth position information corresponding to the second positioning reference object is determined with the fourth angle information; the center position information of the positioning reference objects on both sides is determined according to the fourth position information and the fifth position information.
  • the movement control parameters include movement direction and movement distance
  • the robot processor is specifically configured to determine the moving distance and moving direction of the robot on the abscissa according to the difference between the abscissa of the first position information and the abscissa of the center position information; and According to the difference between the ordinate of the first position information and the ordinate of the center position information, the movement distance and movement direction of the robot on the ordinate are determined.
  • an embodiment of the present disclosure further provides a positioning method, including:
  • the positioning reference objects on both sides are identified by the identification component, and the distance information from the positioning reference objects on each side is obtained respectively;
  • the robot is controlled to move according to the center position information.
  • the identification component includes a laser component, and the laser component emits detection laser light to both sides according to preset angle information;
  • the center position information of the positioning reference objects on both sides is determined, which specifically includes:
  • the center position information of the positioning reference objects on both sides is determined.
  • the distance information includes first distance information between the laser assembly and a first positioning reference object and second distance information between the laser assembly and a second positioning reference object
  • the preset angle information includes first angle information for identifying the first positioning reference object and second angle information for identifying the second positioning reference object
  • the reference position information includes second position information for the first positioning reference object and second position information for the first positioning reference object. the third position information of the second positioning reference, and
  • the determining of the center position information of the positioning reference objects on both sides according to the distance information from the positioning reference objects on each side and the first position information includes:
  • the center position information of the first positioning reference object and the second positioning reference object is determined.
  • the identification component includes a binocular camera component
  • the binocular camera component includes a first camera component and a second camera component
  • the distance information includes the first camera component and the first positioning
  • the center position information of the positioning reference objects on both sides is determined, which specifically includes:
  • the fourth distance information determines the tenth distance information and the third angle information
  • the center position information of the first positioning reference object and the second positioning reference object is determined according to the fourth position information and the fifth position information.
  • the movement control parameters include movement direction and movement distance
  • Determining movement control parameters according to the central location information and the first location information specifically includes:
  • the movement distance and movement direction of the robot on the ordinate are determined.
  • an embodiment of the present disclosure further provides a storage system, including the above-mentioned robot, a control server, and a positioning reference object disposed in the storage space;
  • the control server is configured to, in response to the received cargo handling request, determine the target robot that performs the cargo handling operation according to the shelf position and the container position information carried in the cargo handling request, and send a control instruction to the target robot;
  • the target robot is configured to receive the control instruction, and in response to the control instruction, move between shelves in the storage system based on the determined central position information of the positioning reference object.
  • the identification component identifies the positioning reference objects on both sides during the movement of the robot, obtains the corresponding distance information, and determines the positioning on both sides according to the obtained first position information and the corresponding distance information.
  • the center position information of the reference object further determining the movement control parameters based on the determined center position and controlling the robot to move according to the center position information, which is obtained by identifying the two-dimensional code deployed on the ground corresponding to each cargo box in the prior art.
  • Positioning information according to the obtained positioning information, the container can be picked up or moved between shelves.
  • a large number of QR codes need to be deployed, which increases the deployment and maintenance costs of QR codes and robot identification.
  • the difficulty of the QR code information reduces the positioning reliability.
  • the distance information corresponding to the positioning reference objects on both sides is obtained, and the center position information is further determined according to the first position information of the positioning, and the center position information is determined based on the determined center position information.
  • the method of determining the movement control parameters to control the movement of the robot in the center position saves the deployment and maintenance costs of the two-dimensional code.
  • the positioning method provided by the embodiment of the present disclosure can also realize the identification of the positioning reference objects on both sides and the acquisition of distance information and angle information through a laser assembly or a binocular camera assembly.
  • the first position information determines the center position and movement control parameters, which improves the accuracy of identification and the flexibility of control.
  • FIG. 1 shows a schematic diagram of a storage system provided by an embodiment of the present disclosure
  • Fig. 2a shows a schematic structural diagram of a robot provided by an embodiment of the present disclosure
  • FIG. 2b shows a schematic diagram of identification provided by an embodiment of the present disclosure that an identification component is a laser component
  • FIG. 2c shows a schematic diagram of the identification provided by an embodiment of the present disclosure that an identification component is a binocular camera assembly
  • FIG. 3a shows a flowchart of a positioning method provided by an embodiment of the present disclosure
  • Fig. 3b shows a flow chart of determining the center position information of the two-side positioning reference objects by using a laser component according to an embodiment of the present disclosure
  • Fig. 3c shows a flow chart of determining center position information of two-side positioning reference objects by using a binocular camera assembly according to an embodiment of the present disclosure.
  • references herein to "a plurality or several” means two or more.
  • "And/or" which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" generally indicates that the associated objects are an "or" relationship.
  • the two-dimensional code information can obtain the location information, and further realize free movement between the shelves according to the obtained location information.
  • the cargo boxes are densely placed, the number of two-dimensional codes that need to be deployed increases, and the number of two-dimensional codes between the two-dimensional codes increases. The smaller the distance, the more difficult it is to identify the robot, the possibility of identification errors and the cost of QR code deployment and maintenance.
  • the present disclosure provides a robot and a positioning method.
  • the identification component obtains the distance information corresponding to the positioning reference objects on both sides, and further determines the center position information according to the positioned first position information, and determines the center position information based on the determined center position information.
  • the movement control parameter realizes the method of controlling the movement of the robot at the central position, which saves the deployment and maintenance costs of the QR code, and realizes that when multiple robots move between the shelves, the robots will not interfere with each other in the acquisition of mobile information. , improve the efficiency and timeliness of cargo transportation.
  • the robot provided by the embodiment of the present disclosure can be applied to the storage system as shown in FIG. 1 .
  • the storage system includes a control server 120, a robot 100 and a storage space 130, wherein the number of robots can be set to one, or multiple, and the specific number of robots is determined by the number of goods to be delivered, and is used to transport the to-be-delivered goods in the storage space.
  • the storage area 130 is provided with a plurality of racks 1301 (the racks 1301 are used to store stock items, the racks 1301 can be ordinary racks or pallet racks), and stock items are placed on the racks 1301.
  • racks 1301 are used to store stock items, the racks 1301 can be ordinary racks or pallet racks
  • stock items are placed on the racks 1301.
  • an order container can be associated with at least one order.
  • a plurality of workstations will also be provided on one side of the storage area 130 .
  • a workstation can also be called a picking station; in a cargo replenishment scenario, a workstation can also be called a replenishment station.
  • picking stations and replenishment stations can be reused.
  • the control server 120 is a software system that runs on the server and has data storage and information processing capabilities, and can be connected to various robots, hardware input systems, and other software systems through wireless or wired connections.
  • the control server 120 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture.
  • the control server 120 has a control processor 121 and a memory 122, in which it may have an order pool 123.
  • control server 120 communicates with the robot 100 wirelessly, and the staff can make the control server 120 work through the console 160. Under the control of the control server 120, the robot 100 can move along the empty shelves in the shelf array composed of shelves space travel, and further perform the corresponding tasks.
  • an embodiment of the present disclosure further provides a robot applied to the above-mentioned storage system.
  • a schematic structural diagram of a robot provided by an embodiment of the present disclosure includes a robot processor 21, Identification component 22 and positioning component 23, wherein:
  • the identification component 22 is configured to obtain the distance information between the identification component and the positioning reference objects on each side respectively and send the distance information to the robot processor 21 when the positioning reference objects on both sides are detected during the movement of the robot.
  • the control server when the control server receives a cargo handling request from an upstream system, the control server determines the robot that performs the cargo handling operation according to the shelf position and container position information carried in the cargo handling request and sends a control command to the robot. Further, the robot processor 21 controls the robot to start to move between the shelves in the storage system according to the received control instructions. During the movement between the robot shelves, the identification component 22 installed on the robot starts to detect both sides. Positioning reference objects, when the identification component 22 detects the positioning reference objects on both sides, the distance information from the identified positioning reference objects on each side can be acquired and sent to the robot processor 21 .
  • the positioning component 23 is configured to acquire the first position information and send it to the robot processor 21 when the identification component 22 recognizes the positioning reference object.
  • the positioning component 23 installed on the robot when the identification component 22 installed on the robot detects the positioning reference objects on both sides, the positioning component 23 installed on the robot locates the current first position, and locates the obtained position including the first position.
  • the first position information of a position is sent to the robot processor 21.
  • the first position information may be the position information of the robot center.
  • the positioning component 23 installed on the robot keeps positioning itself during the movement of the robot, and sends the acquired position information to the robot processor 21.
  • the robot processor 21 updates the newly received position information to the first position information.
  • the robot processor 21 is configured to determine the center position information of the positioning reference objects on both sides according to the received distance information and the first position information from the positioning reference objects on each side; determine the movement control according to the center position information and the first position information parameters; control the robot to move according to the center position information based on the movement control parameters.
  • the robot processor 21 can determine the center position of the positioning reference objects on both sides according to the received distance information from the identification component 22 and the positioning reference object on each side and the first position information sent from the positioning component 23 information. It should be noted that, according to the different setting types of the identification component 22, the process of determining the center position information is also different.
  • the identification component 22 includes a laser component, and the laser component emits detection laser light to both sides according to preset angle information;
  • the robot processor 21 is specifically set to determine the reference position information corresponding to the positioning reference object on each side according to the distance information, the preset angle information and the first position information; according to the reference position information corresponding to the positioning reference object on each side, determine two: The center position information of the side positioning reference.
  • the identification component provided by the embodiment of the present disclosure is a schematic diagram of the identification of a laser component.
  • the laser assembly can be fixedly installed at the front end of the robot with a fixed distance from the center of the robot, and a certain angle is set during the installation process to ensure that the laser assembly can emit detection lasers to both sides according to the preset angle information, wherein , the preset angle information may include the first angle information and the second angle information.
  • point A is the position of the laser assembly
  • points B and E are the positions of the reference objects on both sides
  • point D is the center of the robot Location.
  • the angle information of the detection laser emitted by the laser component and the distance information between the laser component and the center of the robot can be stored in the memory as robot installation parameters, so that the robot processor 21 can read the angle of the detection laser from the memory when needed. Information and distance information between the laser assembly and the center of the robot.
  • the laser component emits detection lasers to both sides according to the preset angle information to identify the positioning reference objects on both sides.
  • the robot processor obtains and stores it in the memory.
  • the installation parameters including the distance information between the laser assembly and the robot center and the angle information of the detection laser emitted by the laser assembly, wherein the angle information includes the first angle information and the second angle information, and the first angle information of the detection laser emitted by the laser assembly is obtained.
  • the first position information received by the robot processor from the positioning component is taken as the origin, and the direction of the robot head is the positive direction of the Y-axis to establish a plane coordinate system.
  • the coordinate position of the laser assembly can be determined according to the distance information between the laser assembly and the center of the robot and the position of the robot center, that is, the position information of the laser assembly is determined. Further, based on the first distance information AB and the first angle The information ⁇ BAC can determine the second position information of the first positioning reference (point B).
  • the second angle information and the second distance information AE from the second positioning reference object (point E) are recorded, and the established plane coordinates In the system, the third position information of the second positioning reference object (point E) can be determined based on the second distance information AE and the second angle information ⁇ EAF.
  • the robot processor can determine the center position information of the first positioning reference object and the second positioning reference object according to the coordinates of the second position information and the third position information on the X axis, and based on this, the robot processor can determine the center according to the determined center position information.
  • the coordinates of the position information and the received coordinates of the first position information determine the deviation distance and deviation angle between the two positions, and determine the movement control parameters of the robot according to the determined deviation distance and deviation angle.
  • the movement control parameters include movement direction and travel distance.
  • the robot processor determines the moving direction of the robot on the abscissa according to the difference between the abscissa of the first position information and the determined abscissa of the center position information; according to the abscissa of the first position information and The absolute value of the difference between the determined abscissas of the center position information determines the moving distance of the robot on the X axis.
  • the direction in which the positive direction of the Y-axis of the robot is rotated 90 degrees clockwise is the positive direction of the X-axis, if the robot processor uses the first position information The difference determined by subtracting the abscissa of the determined center position information from the abscissa is a negative value, then the movement direction of the robot on the X axis is determined to move to the right.
  • the determined difference is a positive value
  • the movement direction of the robot on the X axis is determined to move to the left; if the difference determined by the robot processor using the abscissa of the determined center position information minus the abscissa of the first position information is positive, then the robot is in The moving direction on the X-axis is determined to be moving to the right. On the contrary, if the determined difference is negative, the moving direction of the robot on the X-axis is determined to be moving to the left.
  • the direction in which the positive direction of the Y-axis of the robot rotates 90 degrees counterclockwise is the positive direction of the X-axis. If the robot processor uses the abscissa of the first position information to subtract the determined center position information If the difference determined by the abscissa is a negative value, the moving direction of the robot on the X-axis is determined to move to the left.
  • the moving direction of the robot on the X-axis is determined as Move to the right; if the difference determined by the robot processor using the abscissa of the determined center position information minus the abscissa of the first position information is positive, then the movement direction of the robot on the X axis is determined to move to the left , on the contrary, if the determined difference is a negative value, the movement direction of the robot on the X axis is determined to move to the right.
  • the above-mentioned setting manner of the positive direction of the X-axis is not limited in the embodiment of the present disclosure.
  • the robot processor determines the moving distance and moving direction of the robot on the ordinate according to the difference between the ordinate of the first position information and the ordinate of the center position information. It should be noted that the movement distance of the robot on the Y-axis is determined according to the absolute value of the difference between the ordinate of the first position information and the ordinate of the determined center position information, and the movement direction of the robot on the Y-axis is determined. It is determined that since the laser assembly is installed at the front end of the robot, the moving direction of the robot on the ordinate is along the positive direction of the Y axis.
  • the robot processor controls the robot to move according to the center position information based on the movement distance and movement direction of the robot on the X-axis and the Y-axis determined above.
  • the robot processor can control the robot to rotate on the X axis according to the determined movement direction on the X axis. Move, when the moving distance is reached, the robot rotates to the positive direction of the Y-axis, and then moves according to the determined moving distance on the Y-axis and moves to the determined center position.
  • the moving distance on the X axis controls the robot to move in the positive direction of the Y axis. After reaching the moving distance, the robot is controlled to rotate on the X axis according to the determined moving direction on the X axis.
  • the robot processor may also determine the rotation angle and movement of the robot during the movement process according to the determined movement direction and movement distance on the X axis and the movement distance and movement direction on the Y axis The distance is achieved by controlling the movement speed of the robot to move to the determined center position. It should be noted that after the robot has determined a center position, it can determine multiple center positions of the reference objects on both sides according to the same method, thereby forming the center lines of the reference objects on both sides. Further, the robot processor controls the robot. Moving along the centerline ensures that the robot can move at the center of the reference object on both sides.
  • the identification component further includes a binocular camera component, the binocular camera component includes a first camera component and a second camera component, and the acquired distance information includes the distance between the first camera component and the first positioning reference object The third distance information, the fourth distance information between the second camera assembly and the first positioning reference object, the fifth distance information between the first camera assembly and the second positioning reference object, the sixth distance information between the second camera assembly and the second positioning reference object distance information.
  • the identification component provided by the embodiment of the present disclosure is a schematic identification diagram of a binocular camera component.
  • the binocular camera assembly is fixedly installed on the same horizontal line at the front end of the robot and has fixed seventh distance information BC, wherein the first camera assembly in the binocular camera assembly is located at the position point C, and the binocular camera assembly in the position point C.
  • the second camera assembly is located at the position point B, and the first camera assembly and the second camera assembly in the binocular camera assembly respectively form a certain angle with the center position of the robot, namely ⁇ CAD and ⁇ BAG.
  • the first camera assembly and the robot center position have fixed eighth distance information AC
  • the second camera assembly and the robot center position have fixed ninth distance information AB
  • the seventh distance information, the eighth distance information and the ninth distance information The distance information may be determined based on installation parameters retrieved in memory.
  • the position of point C is the position of the first camera assembly
  • the position of point B is the position of the second camera assembly
  • the point E is the position of the recognized first positioning reference
  • the point F is The position of the recognized second positioning reference object.
  • the binocular camera assembly shoots to both sides to identify the positioning reference objects on both sides.
  • the robot When the positioning reference objects on both sides are identified, the robot will The processor records the third distance information EC between the first camera assembly and the first positioning reference object, the fourth distance information EB between the second camera assembly and the first positioning reference object, and the third distance information between the first camera assembly and the second positioning reference object.
  • the seventh distance information BC the value of ⁇ ECB can be determined by using the law of cosines, and the value of ⁇ ECH can be determined according to the value of ⁇ ECB. Further, the seventh distance information can be determined according to the first camera assembly and the second camera assembly.
  • the BC, the eighth distance information AC between the first camera assembly and the robot center, and the ninth distance information AB between the second camera and the robot center determine the value of ⁇ ACB, and determine the value of ⁇ ACH according to the value of ⁇ ACB.
  • value according to the value of ⁇ ACH and the value of ⁇ ECH, the value of ⁇ ACE can be determined, based on the value of ⁇ ACE and the value of the distance information AC and the third distance information EC, the value of the tenth distance information AE can be determined, and further The value of ⁇ CAE can be determined, and further according to the value of ⁇ CAD, the value of the third angle information ⁇ EAD can be determined, and then the fourth position information of the first positioning reference can be determined according to the established plane coordinate system.
  • the robot processor can be based on the fifth The distance information FC, the sixth distance information FB, the seventh distance information BC between the first camera assembly and the second camera assembly, the value of ⁇ FBC can be determined by using the cosine theorem, and the value of ⁇ FBI can be determined according to the value of ⁇ FBC , further, according to the seventh distance information BC between the first camera assembly and the second camera assembly, the eighth distance information AC between the first camera assembly and the robot center, and the ninth distance between the second camera and the robot center
  • the distance information AB determines the value of ⁇ ABC, and the value of ⁇ ABI can be determined according to the value of ⁇ ABC, and further determines the value of ⁇ ABF according to the values of ⁇ ABI and ⁇ FBI,
  • the value of the fourth angle information ⁇ FAG can be determined. Further, the fifth position information of the second positioning reference object and its corresponding fifth coordinate position can be determined according to the established plane coordinate system, and then the first positioning reference can be determined according to the determined fourth position information and the fifth position information. The center position information of the object and the second positioning reference object.
  • the execution steps of the robot are the same as the execution steps of the above-mentioned identification component being a laser component, which will not be repeated in this embodiment of the present disclosure.
  • the embodiments of the present disclosure provide a method for identifying the positions of the positioning reference objects on both sides of the moving path by using a preset identification component, and determining the identified positioning reference objects according to the positions of the identified positioning reference objects and the acquired first position information of the current location.
  • the coordinate positions of the two-side positioning reference objects are further determined according to the obtained coordinate positions, and the center position of the two-side positioning reference objects is determined, and the deviation information between the current position and the center position is determined, and the movement control parameters are determined according to the deviation information, and the robot is controlled based on the movement control parameters.
  • the moving method can realize the movement of the robot along the center position of the reference object on both sides, save the deployment and maintenance costs of the two-dimensional code, and improve the flexibility and adaptability of the robot.
  • the positioning method provided by the embodiment of the present disclosure will be described below by taking the execution subject as a robot as an example.
  • a flowchart of a positioning method provided by an embodiment of the present disclosure may include the following steps:
  • S301 In the process of moving, identify the positioning reference objects on both sides through the identification component, and obtain the distance information from the positioning reference objects on each side respectively.
  • the control server receives the cargo handling request from the upstream system, generates a control command according to the cargo handling request and sends it to the robot, and the robot starts to move in the storage system in response to the received control command.
  • the identification component starts to identify the positioning reference objects on both sides, and when the positioning reference objects on both sides are identified, the distance information between the identification component and the positioning reference objects on each side is recorded.
  • S303 Determine the center position information of the positioning reference objects on both sides according to the distance information and the first position information from the positioning reference objects on each side.
  • the robot determines the reference position information corresponding to the positioning reference object on each side according to the obtained distance information and the first position information of the positioning reference object on each side, and further according to the determined reference position information corresponding to the positioning reference object on both sides Determine its corresponding center position information.
  • the identification component includes a laser component, the laser component emits detection lasers to both sides according to preset angle information, and uses the emitted detection lasers to identify the reference objects on both sides.
  • the distance information includes first distance information between the laser assembly and the first positioning reference object and second distance information between the laser assembly and the second positioning reference object
  • the preset angle information includes identifying the first positioning reference
  • the reference position information includes the second position information of the first positioning reference object and the third position information of the second positioning reference object.
  • the angle information of the detection laser emitted by the laser component and the distance information between the laser component and the center of the robot can be stored in the memory as robot installation parameters, so that the robot processor 21 can read the angle of the detection laser from the memory when needed. Information and distance information between the laser assembly and the center of the robot.
  • the laser component emits detection laser to the side of the first positioning reference object according to the first angle information and emits detection laser to the side of the second positioning reference object according to the second angle information, after the laser component recognizes the positioning reference objects on both sides
  • the robot processor acquires the installation parameters stored in the memory including distance information between the laser assembly and the center of the robot and angle information of the detection laser emitted by the laser assembly, wherein the angle information includes first angle information and second angle information, based on the first angle information
  • the angle information and the first distance information when the first positioning reference object is recognized, and the second angle information and the second distance information when the second positioning reference object is recognized, the center position of the positioning reference objects on both sides can be determined according to the following steps information, as shown in FIG. 3b , a flowchart of determining the center position information of the reference objects on both sides by using a laser component provided by an embodiment of the present disclosure may include the following steps:
  • S311 Determine second position information of the first positioning reference object according to the first distance information, the first angle information, and the distance information between the laser assembly and the center of the robot.
  • the first positioning can be determined according to the first distance information and the first angle information of the first positioning reference object identified by the laser assembly and the installation parameters including the distance information between the laser assembly and the robot center obtained from the memory. Second position information of the reference.
  • S312 Determine third position information of the second positioning reference object according to the second distance information, the second angle information, and the distance information between the laser assembly and the center of the robot.
  • the second distance information and the preset second angle information of the second positioning reference object and the second positioning reference object identified by the laser assembly and the installation parameters obtained from the memory including the distance information between the laser assembly and the robot center it can be determined.
  • the third position information of the second positioning reference it can be determined.
  • S313 Determine center position information of the first positioning reference object and the second positioning reference object according to the second position information and the third position information.
  • the identification component includes a binocular camera component
  • the binocular camera component includes a first camera component and a second camera component
  • the distance information includes a third camera component and a first positioning reference object Distance information, fourth distance information between the second camera assembly and the first positioning reference object, fifth distance information between the first camera assembly and the second positioning reference object, sixth distance information between the second camera assembly and the second positioning reference object , the seventh distance information between the first camera assembly and the second camera assembly, the eighth distance information and the ninth distance information between the first camera assembly and the second camera assembly and the robot center, wherein the first position information corresponds to The first position of the robot is the center position of the robot.
  • the center position information of the positioning reference objects on both sides can be determined according to the following steps. As shown in FIG.
  • the flow chart of the center position information of the side positioning reference object may include the following steps:
  • S321 Determine the tenth distance information and the third angle information according to the third distance information, the fourth distance information, the seventh distance information, the eighth distance information and the ninth distance information.
  • the seventh distance information, the eighth distance information and the ninth distance information may be determined based on the installation parameters obtained in the memory, the tenth distance information is the value of AE in Fig. 2c, and the third angle information is the value of AE in Fig. 2c ⁇ The value of EAD.
  • S322 Determine fourth position information corresponding to the first positioning reference object according to the tenth distance information and the third angle information.
  • S323 Determine the eleventh distance information and the fourth angle information according to the fifth distance information, the sixth distance information, the seventh distance information, the eighth distance information and the ninth distance information.
  • the eleventh distance information is the value of AF in Fig. 2c
  • the fourth angle information is the value of ⁇ FAG in Fig. 2c.
  • S324 Determine fifth position information corresponding to the second positioning reference object according to the eleventh distance information and the fourth angle information.
  • S325 Determine the center position information of the first positioning reference object and the second positioning reference object according to the fourth position information and the fifth position information.
  • the identification component is a binocular camera component
  • the center position information of the first positioning reference object and the second positioning reference object can be determined.
  • S304 Determine movement control parameters according to the center position information and the first position information.
  • the robot determines the deviation information of the two positions according to the determined center position information and the first position information, and determines the movement control parameters of the robot according to the deviation information.
  • the positioning parameters may include a moving direction and a moving distance
  • the robot determines the moving distance and moving direction of the robot on the abscissa according to the difference between the abscissa of the first position information and the abscissa of the center position information;
  • the difference between the ordinate of the first position information and the ordinate of the center position information determines the movement distance and movement direction of the robot on the ordinate.
  • the robot controls the robot to move to the center position based on the determined movement control parameters, and finally realizes the movement along the center line of the positioning reference objects on both sides.
  • the writing order of each step does not mean a strict execution order but constitutes any limitation on the implementation process, and the specific execution order of each step should be based on its function and possible Internal logic is determined.

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Abstract

一种机器人（100），包括机器人处理器（21）、识别组件（22）和定位组件（23），其中：识别组件，配置为在机器人移动的过程中，检测到两侧定位参考物的情况下，分别获取识别组件与每一侧定位参考物的距离信息，并发送给机器人处理器；定位组件，配置为在识别组件识别到定位参考物的情况下，获取机器人当前所处位置对应的第一位置信息，并发送给机器人处理器；机器人处理器，配置为根据收到的、与每一侧定位参考物的距离信息和所述第一位置信息，确定两侧定位参考物之间的中心位置信息；根据中心位置信息和第一位置信息确定移动控制参数；基于所述移动控制参数控制所述机器人沿两侧定位参考物之间的中心位置进行移动。这种机器人节省了二维码的部署和维护成本。还涉及一种仓储系统和定位方法。

Description

一种机器人及定位方法
本公开要求在2020年12月16日提交中国专利局、申请号为2020114879132、申请名称为“一种机器人及定位方法”的中国专利的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及机器人领域，尤其涉及一种机器人及定位方法。
背景技术
随着智能仓储系统的快速发展，为了提高货物流动的效率，机器人已经开始被广泛应用于各种智能仓储系统中。根据不同的货物运输需求，机器人的种类也开始多样化，不同种类的机器人被应用于不同的货物运输场景，在机器人进行货物运输的过程中，为了保证运输过程的安全性和运送结果的准确性，需要对机器人进行位置定位，通过定位信息来确保运输过程的完整性。
目前，智能仓储系统中的机器人通常基于部署于仓储空间地面的二维码位置定位，通过在机器人上装备识别摄像头，在机器人的运动过程中通过识别摄像头扫描运动到的位置处部署在仓储空间地面的二维码以获取二维码信息，根据二维码信息获取定位信息。
但基于视觉信息进行位置定位的机器人需要在每个货箱位置地面部署二维码，增加了二维码部署和维护成本。另外，在货箱位置摆放较密集的情况下，二维码的间距很小，增加了识别摄像头扫描二维码获取定位信息的难度，降低了定位的可靠性。
发明内容
本公开实施例至少提供一种机器人及定位方法。
第一方面，本公开实施例提供了一种机器人，包括机器人处理器、识 别组件和定位组件，其中：
所述识别组件，用于在机器人移动的过程中检测到两侧定位参考物的情况下，分别获取所述识别组件与每一侧定位参考物的距离信息并发送给所述机器人处理器；
所述定位组件，用于在所述识别组件识别到所述定位参考物的情况下，获取第一位置信息并发送给所述机器人处理器；
所述机器人处理器，设置为根据收到的、与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息；根据所述中心位置信息和所述第一位置信息确定移动控制参数；基于所述移动控制参数控制所述机器人根据所述中心位置信息进行移动。
在一种可能的实施方式中，所述识别组件包括激光组件，所述激光组件按照预设的角度信息向两侧发射探测激光；以及
所述机器人处理器，具体设置为根据所述距离信息、所述预设的角度信息和所述第一位置信息确定每一侧定位参考物对应的参考位置信息；根据每一侧定位参考物对应的参考位置信息，确定两侧定位参考物的中心位置信息。
在一种可能的实施方式中，所述距离信息包括所述激光组件与第一定位参考物之间的第一距离信息和所述激光组件与第二定位参考物之间的第二距离信息，所述预设的角度信息包括识别第一定位参考物的第一角度信息和识别第二定位参考物的第二角度信息，所述参考位置信息包括第一定位参考物的第二位置信息和第二定位参考物的第三位置信息，以及
所述机器人处理器，具体设置为根据所述第一距离信息、所述第一角度信息和所述激光组件与机器人中心之间的距离信息确定所述第一定位参考物的第二位置信息；根据所述第二距离信息、所述第二角度信息和所述激光组件与机器人中心之间的距离信息确定所述第二定位参考物的第三位置信息；根据所述第二位置信息和所述第三位置信息，确定所述第一定位 参考物和所述第二定位参考物的中心位置信息。
在一种可能的实施方式中，所述识别组件包括双目摄像组件，所述双目摄像组件包括第一摄像组件和第二摄像组件，以及所述距离信息包括第一摄像组件与第一定位参考物的第三距离信息，第二摄像组件与第一定位参考物的第四距离信息，第一摄像组件与第二定位参考物的第五距离信息，第二摄像组件与第二定位参考物的第六距离信息；
所述机器人处理器，具体设置为根据第三距离信息、第四距离信息、第一摄像组件与第二摄像组件之间的第七距离信息、第一摄像组件和第二摄像组件与所述机器人中心之间的第八距离信息和第九距离信息，确定第十距离信息和第三角度信息；根据所述第十距离信息和所述第三角度信息确定所述第一定位参考物对应的第四位置信息；根据第五距离信息、第六距离信息、第七距离信息、第八距离信息和第九距离信息，确定第十一距离信息和第四角度信息，根据所述第十一距离信息和所述第四角度信息确定所述第二定位参考物对应的第五位置信息；根据所述第四位置信息和所述第五位置信息确定两侧定位参考物的中心位置信息。
在一种可能的实施方式中，所述移动控制参数包括移动方向和移动距离；以及
所述机器人处理器，具体设置为根据所述第一位置信息的横坐标和所述中心位置信息的横坐标之间的差值，确定所述机器人在横坐标上的移动距离和移动方向；以及根据所述第一位置信息的纵坐标和所述中心位置信息的纵坐标之间的差值，确定所述机器人在纵坐标上的移动距离和移动方向。
第二方面，本公开实施例还提供一种定位方法，包括：
在移动的过程中通过识别组件识别两侧定位参考物，分别获取与每一侧定位参考物的距离信息；
在识别到所述定位参考物的情况下，获取第一位置信息；
根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息；
根据所述中心位置信息和所述第一位置信息确定移动控制参数；
基于所述移动控制参数，控制机器人根据所述中心位置信息进行移动。
在一种可能的实施方式中，所述识别组件包括激光组件，所述激光组件按照预设的角度信息向两侧发射探测激光；以及
根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息，具体包括：
根据所述距离信息、所述预设的角度信息和所述第一位置信息确定每一侧定位参考物的参考位置信息；
根据每一侧定位参考物对应的参考位置信息，确定两侧定位参考物的中心位置信息。
在一种可能的实施方式中，所述距离信息包括所述激光组件与第一定位参考物之间的第一距离信息和所述激光组件与第二定位参考物之间的第二距离信息，所述预设的角度信息包括识别第一定位参考物的第一角度信息和识别第二定位参考物的第二角度信息，所述参考位置信息包括第一定位参考物的第二位置信息和第二定位参考物的第三位置信息，以及
所述根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息，包括：
根据所述第一距离信息、所述第一角度信息和所述激光组件与机器人中心之间的距离信息确定所述第一定位参考物的第二位置信息；
根据所述第二距离信息、所述第二角度信息和所述激光组件与机器人中心之间的距离信息确定所述第二定位参考物的第三位置信息；
根据所述第二位置信息和所述第三位置信息，确定所述第一定位参考物和所述第二定位参考物的中心位置信息。
在一种可能的实施方式中，所述识别组件包括双目摄像组件，所述双目摄像组件包括第一摄像组件和第二摄像组件，以及所述距离信息包括第一摄像组件与第一定位参考物的第三距离信息，第二摄像组件与第一定位参考物的第四距离信息，第一摄像组件与第二定位参考物的第五距离信息，第二摄像组件与第二定位参考物的第六距离信息，以及
根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息，具体包括：
根据第三距离信息、第四距离信息、第一摄像组件与第二摄像组件之间的第七距离信息、第一摄像组件和第二摄像组件与所述机器人中心之间的第八距离信息和第九距离信息，确定第十距离信息和第三角度信息；
根据所述第十距离信息和所述第三角度信息确定所述第一定位参考物对应的第四位置信息；
根据第五距离信息、第六距离信息、第七距离信息、第八距离信息和第九距离信息，确定第十一距离信息和第四角度信息；
根据所述第十一距离信息和所述第四角度信息确定所述第二定位参考物对应的第五位置信息；
根据所述第四位置信息和所述第五位置信息确定所述第一定位参考物和所述第二定位参考物的中心位置信息。
在一种可能的实施方式中，所述移动控制参数包括移动方向和移动距离；以及
根据所述中心位置信息和所述第一位置信息确定移动控制参数，具体包括：
根据所述第一位置信息的横坐标和所述中心位置信息的横坐标之间的差值，确定所述机器人在横坐标上的移动距离和移动方向；
根据所述第一位置信息的纵坐标和所述中心位置信息的纵坐标之间的 差值，确定所述机器人在纵坐标上的移动距离和移动方向。
第三方面，本公开实施例还提供一种仓储系统，包括上述机器人、控制服务器和设置于仓储空间内的定位参考物；
所述控制服务器，用于响应于接收到的货物搬运请求，根据货物搬运请求中携带的货架位置和货箱位置信息确定执行货箱搬运操作的目标机器人并向目标机器人发送控制指令；
所述目标机器人，用于接收所述控制指令，并响应于所述控制指令，基于确定的定位参考物的中心位置信息在仓储系统中的货架之间进行移动。
关于上述定位方法的效果描述参见上述机器人的说明，这里不再赘述。
本公开实施例提供的机器人及定位方法，通过识别组件在机器人运动的过程中识别两侧定位参考物并获取对应的距离信息，并根据获取的第一位置信息和对应的距离信息确定两侧定位参考物的中心位置信息，进一步基于确定的中心位置确定移动控制参数并控制机器人根据中心位置信息进行移动的方法，与现有技术中通过识别部署在各货箱对应的地面上的二维码获取定位信息，根据获取的定位信息执行货箱抱取或者是在货架之间移动，但是在货箱部署密集时，需要部署大量的二维码，增加了二维码的部署和维护成本和机器人识别二维码信息的难度，降低了定位可靠性相比，其通过识别组件获取与两侧定位参考物对应的距离信息，进一步根据定位的第一位置信息确定中心位置信息，基于确定的中心位置信息确定移动控制参数实现控制机器人在中心位置移动的方法，节省了二维码的部署和维护成本。
进一步，本公开实施例提供的定位方法，还可以通过激光组件或者双目摄像组件实现对两侧定位参考物的识别以及距离信息和角度信息的获取，根据获取的距离信息和角度信息以及定位的第一位置信息确定中心位置和移动控制参数，提高了识别的准确性和控制的灵活性。
为使本公开的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，此处的附图被并入说明书中并构成本说明书中的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1示出了本公开实施例所提供的一种仓储系统示意图；
图2a示出了本公开实施例所提供的一种机器人的结构示意图；
图2b示出了本公开实施例所提供的一种识别组件为激光组件的识别示意图；
图2c示出了本公开实施例所提供的一种识别组件为双目摄像组件的识别示意图；
图3a示出了本公开实施例所提供的一种定位方法的流程图；
图3b示出了本公开实施例所提供的一种通过激光组件确定两侧定位参考物的中心位置信息的流程图；
图3c示出了本公开实施例所提供的一种通过双目摄像组件确定两侧定位参考物的中心位置信息的流程图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。通常在此处描述和示出的本公开实施例的组件可以以各种不同的配置来布 置和设计。因此，以下对本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于本公开的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
另外，本公开实施例中的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。
在本文中提及的“多个或者若干个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
经研究发现，在智能仓储系统中，为了保证机器人在各货架之间移动的安全性和抱取货箱的准确性，需要在各货箱对应的地面位置部署二维码，机器人通过识别地面上的二维码信息获取位置信息，进一步根据获取的位置信息实现在各货架之间自由移动，但是在货箱摆放密集的情况下，需要部署的二维码数量增加，二维码之间的间距变小，增加了机器人识别的难度，增加了识别出错的可能性和二维码部署以及维护的成本，当多个机器人在货架之间进行移动时，可能存在着排队识别二维码信息的情况，降低了货物运输的效率和及时性。
基于上述研究，本公开提供了一种机器人及定位方法，通过识别组件获取与两侧定位参考物对应的距离信息，进一步根据定位的第一位置信息确定中心位置信息，基于确定的中心位置信息确定移动控制参数实现控制机器人在中心位置移动的方法，节省了二维码的部署和维护成本，并且实现了当多机器人在货架之间进行移动时，各机器人不会存在着移动信息获取的相互干扰，提高了货物运输的效率和及时性。
针对以上方案所存在的缺陷，均是发明人在经过实践并仔细研究后得 出的结果，因此，上述问题的发现过程以及下文中本公开针对上述问题所提出的解决方案，都应该是发明人在本公开过程中对本公开做出的贡献。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
为便于对本公开实施利进行理解，首先对本公开实施例所提供的机器人的应用场景进行介绍。本公开实施例提供的机器人可以应用于如图1所示的仓储系统中。该仓储系统包括控制服务器120、机器人100和仓储空间130，其中，机器人可以设置为一个，也可以设置为多个，具体的设置数量由待传递货物的数量决定，用于在仓储空间中搬运待传递货物，其可以为用于搬运仓储区域130的货架的货架机器人，还可以为用于搬运从货架上取出和存放货物的存储容器(例如料箱等)的料箱机器人，在一些实施例中，仓储区域130设置有多个货架1301(该货架1301用于存放库存物品，货架1301可以是普通货架，还可以是托盘货架)，货架1301上放置有库存物品，在响应订单任务时，该物品可以被拣选到订单容器中，一个订单容器至少可以与一个订单相关联的。通常，还会在仓储区域130的一侧设置有多个工作站。在货物拣选场景中，工作站也可称为拣选站；在货物补货场景中，工作站也可称为补货站。作为一种可实现方式，拣选站和补货站可以复用。
控制服务器120为在服务器上运行的、具有数据存储、信息处理能力的软件系统，可通过无线或有线与各机器人、硬件输入系统、其它软件系统连接。控制服务器120可以包括一个或多个服务器，可以为集中式控制架构或者分布式计算架构。控制服务器120具有控制处理器121和存储器122，在存储器122中可以具有订单池123。
需要说明的是，控制服务器120与机器人100进行无线通信，工作人员可以通过操作台160使控制服务器120工作，机器人100在控制服务器120的控制下，可以沿货架所组成的货架阵列中的空着的空间行驶，进一步 执行相应的任务。
基于上述的仓储系统，本公开实施例还提供了一种应用于上述仓储系统的机器人，如图2a所示，为本公开实施例所提供的一种机器人的结构示意图，包括机器人处理器21、识别组件22和定位组件23，其中：
识别组件22，用于在机器人移动的过程中检测到两侧定位参考物的情况下，分别获取识别组件与每一侧定位参考物的距离信息并发送给所述机器人处理器21。
具体实施时，当控制服务器接收到来自上游系统的货物搬运请求时，控制服务器根据货物搬运请求中携带的货架位置和货箱位置信息确定执行货箱搬运操作的机器人并向机器人发送控制指令。进一步的，机器人处理器21根据接收到的控制指令控制机器人开始在仓储系统中的货架之间进行移动，在机器人货架之间进行移动的过程中，安装在机器人上的识别组件22开始检测两侧定位参考物，在识别组件22检测到两侧定位参考物的情况下，可以获取与识别到的每一侧定位参考物的距离信息并发送给机器人处理器21。
定位组件23，用于在识别组件22识别到定位参考物的情况下，获取第一位置信息并发送给机器人处理器21。
在一种实施方式中，在安装在机器人上的识别组件22检测到两侧定位参考物的情况下，安装在机器人上的定位组件23定位当前所在的第一位置，并将定位得到的包括第一位置的第一位置信息发送给机器人处理器21，需要说明的是，第一位置信息可以为机器人中心的位置信息。在另一种实施方式中，安装在机器人上的定位组件23在机器人进行移动的过程中，一直定位自身的位置，将获取的位置信息发送给机器人处理器21，当识别组件22检测到两侧定位参考物的时候，机器人处理器21将最新接收到的位置信息更新为第一位置信息。
机器人处理器21，设置为根据收到的、与每一侧定位参考物的距离信 息和第一位置信息确定两侧定位参考物的中心位置信息；根据中心位置信息和第一位置信息确定移动控制参数；基于移动控制参数控制机器人根据中心位置信息进行移动。
具体实施时，机器人处理器21根据接收到的来自识别组件22发送的与每一侧定位参考物的距离信息和来自定位组件23发送的第一位置信息可以确定出两侧定位参考物的中心位置信息。需要说明的是，根据识别组件22的设置类型不同，确定中心位置信息的过程也是不相同的。
在一种实施方式中，识别组件22包括激光组件，激光组件按照预设的角度信息向两侧发射探测激光；以及
机器人处理器21，具体设置为根据距离信息、预设的角度信息和第一位置信息确定每一侧定位参考物对应的参考位置信息；根据每一侧定位参考物对应的参考位置信息，确定两侧定位参考物的中心位置信息。
如图2b所示，为本公开实施例提供的识别组件为激光组件的识别示意图。例如，激光组件可以固定安装在机器人的前端且与机器人中心位置具有固定距离，并且在安装的过程中设置一定的角度用来保证激光组件可以按照预设的角度信息向两侧发射探测激光，其中，预设的角度信息可以包括第一角度信息和第二角度信息，具体实施时，以点A为激光组件的位置，点B和点E为两侧定位参考物的位置，点D为机器人中心位置。
其中，激光组件发射探测激光的角度信息和激光组件与机器人中心之间的距离信息可以作为机器人安装参数存储在存储器中，这样，机器人处理器21在需要时可以从存储器中读取探测激光的角度信息和激光组件与机器人中心之间的距离信息。
在机器人进行移动的过程中，激光组件按照预设的角度信息向两侧发射探测激光来识别两侧定位参考物，在识别到两侧定位参考物的情况下，机器人处理器获取存储在存储器中包括激光组件与机器人中心的距离信息和激光组件发射的探测激光的角度信息的安装参数，其中，该角度信息包 括第一角度信息和第二角度信息，并获取激光组件发射的探测激光距离第一定位参考物(B点)的第一距离信息AB。以机器人处理器接收到来自定位组件的第一位置信息即机器人中心位置信息为原点，机器人车头行驶的方向为Y轴正方向建立平面坐标系。在平面坐标系中，根据激光组件与机器人中心位置的距离信息以及机器人中心的位置可以确定激光组件的坐标位置，即确定激光组件的位置信息，进一步的，基于第一距离信息AB和第一角度信息∠BAC可以确定第一定位参考物(B点)的第二位置信息。另外，激光组件按照第二角度信息发射的探测激光识别到第二定位参考物时，记录第二角度信息和距离第二定位参考物(E点)的第二距离信息AE，在建立的平面坐标系中，基于第二距离信息AE和第二角度信息∠EAF可以确定第二定位参考物(E点)的第三位置信息。
进一步的，机器人处理器可以根据第二位置信息和第三位置信息在X轴的坐标确定第一定位参考物和第二定位参考物的中心位置信息，基于此，机器人处理器根据确定出的中心位置信息的坐标和接收到的第一位置信息的坐标确定出两个位置之间偏差距离和偏差角度，根据确定出的偏差距离和偏差角度确定机器人的移动控制参数，例如，移动控制参数包括移动方向和移动距离。
具体实施时，机器人处理器根据第一位置信息的横坐标和确定出的中心位置信息的横坐标之间的差值，确定机器人在横坐标上的移动方向；根据第一位置信息的横坐标和确定出的中心位置信息的横坐标之间的差值的绝对值确定机器人在X轴上的移动距离。
关于机器人在X轴上的移动方向的确定，在一种实施方式中，以机器人的Y轴正方向顺时针旋转九十度的方向为X轴正方向，如果机器人处理器利用第一位置信息的横坐标减去确定出的中心位置信息的横坐标确定出来的差值为负值，则机器人在X轴上的移动方向确定为向右移动，相反的，如果确定出来的差值为正值，则机器人在X轴上的移动方向确定为向左移动；如果机器人处理器利用确定出的中心位置信息的横坐标减去第一位置 信息的横坐标确定出来的差值为正值，则机器人在X轴上的移动方向确定为向右移动，相反的，如果确定出来的差值为负值，则机器人在X轴上的移动方向确定为向左移动。
在另一种实施方式中，以机器人的Y轴正方向逆时针旋转九十度的方向为X轴正方向，如果机器人处理器利用第一位置信息的横坐标减去确定出的中心位置信息的横坐标确定出来的差值为负值，则机器人在X轴上的移动方向确定为向左移动，相反的，如果确定出来的差值为正值，则机器人在X轴上的移动方向确定为向右移动；如果机器人处理器利用确定出的中心位置信息的横坐标减去第一位置信息的横坐标确定出来的差值为正值，则机器人在X轴上的移动方向确定为向左移动，相反的，如果确定出来的差值为负值，则机器人在X轴上的移动方向确定为向右移动。上述关于X轴正方向的设定方式，本公开实施例不进行限定。
进一步的，机器人处理器根据第一位置信息的纵坐标和中心位置信息的纵坐标之间的差值，确定机器人在纵坐标上的移动距离和移动方向。需要说明的是，根据第一位置信息的纵坐标和确定出的中心位置信息的纵坐标之间的差值的绝对值确定机器人在Y轴上的移动距离，关于机器人在Y轴上的移动方向确定，由于激光组件安装在机器人的前端，所以机器人在纵坐标上的移动方向是沿Y轴正方向的。
机器人处理器基于上述确定出来的机器人在X轴和Y轴上的移动距离和移动方向控制机器人根据中心位置信息进行移动。具体实施时，机器人处理器可以根据确定出的在X轴上的移动方向控制机器人在X轴上旋转，在X轴上完成旋转后，根据确定出的在X轴上的移动距离在X轴上进行移动，当到达移动距离之后，机器人旋转到Y轴正方向再根据确定出的在Y轴上的移动距离进行移动并移动到确定出的中心位置，另外，还可以根据确定出的在Y轴上的移动距离控制机器人在Y轴上正方向上进行移动，在到达移动距离之后，根据确定出的在X轴上的移动方向控制机器人在X轴上旋转，在X轴上完成旋转后，根据确定出的在X轴上的移动距离在X轴 上进行移动并移动到确定出的中心位置。在另一种实施方式中，机器人处理器还可以根据确定出来的在X轴上的移动方向和移动距离以及在Y轴上的移动距离和移动方向确定出机器人在移动过程中的旋转角度和移动距离，通过控制机器人的移动速度实现移动到确定出的中心位置。需要说明的是，机器人在确定出一个中心位置之后，可以按照相同的方法确定出两侧定位参考物的多个中心位置，进而形成两侧定位参考物的中心线，进一步，机器人处理器控制机器人沿着中心线进行移动，保证了机器人可以实现在两侧定位参考物的中心进行移动。
在一种实施方式中，识别组件还包括双目摄像组件，所述双目摄像组件包括第一摄像组件和第二摄像组件，以及获取的距离信息包括第一摄像组件与第一定位参考物的第三距离信息，第二摄像组件与第一定位参考物的第四距离信息，第一摄像组件与第二定位参考物的第五距离信息，第二摄像组件与第二定位参考物的第六距离信息。
如图2c所示，为本公开实施例提供的识别组件为双目摄像组件的识别示意图。具体实施时，双目摄像组件固定安装在机器人前端的同一水平线上且具有固定的第七距离信息BC，其中，双目摄像组件中的第一摄像组件位于位置点C，双目摄像组件中的第二摄像组件位于位置点B，并且双目摄像组件中的第一摄像组件和第二摄像组件分别与机器人中心位置成一定的角度，即∠CAD和∠BAG。另外，第一摄像组件与机器人中心位置具有固定的第八距离信息AC，第二摄像组件与机器人中心位置具有固定的第九距离信息AB，其中，第七距离信息、第八距离信息和第九距离信息可以是基于在存储器中获取的安装参数确定的。以点A为机器人的中心位置，点C的位置为第一摄像组件的位置，点B的位置为第二摄像组件的位置，点E为识别到的第一定位参考物的位置，点F为识别到的第二定位参考物的位置，在机器人进行移动的过程中，双目摄像组件分别向两侧进行拍摄以识别两侧定位参考物，在识别到两侧定位参考物的情况下，机器人处理器记录下第一摄像组件与第一定位参考物的第三距离信息EC，第二摄像组件与 第一定位参考物的第四距离信息EB，第一摄像组件与第二定位参考物的第五距离信息FC，第二摄像组件与第二定位参考物的第六距离信息FB，进一步的，根据第三距离信息EC、第四距离信息EB、第一摄像组件与第二摄像组件之间的第七距离信息BC，利用余弦定理确定出∠ECB的值，根据∠ECB的值可以确定出∠ECH的值，进一步的，可以根据第一摄像组件与第二摄像组件之间的第七距离信息BC、第一摄像组件和机器人中心之间的第八距离信息AC和第二摄像头和机器人中心之间的第九距离信息AB确定出∠ACB的值，并根据∠ACB的值确定出∠ACH的值，根据∠ACH的值和∠ECH的值，可以确定出∠ACE的值，基于∠ACE的值和距离信息AC的值以及第三距离信息EC可以确定出第十距离信息AE的值，进一步可以确定出∠CAE的值，进一步根据∠CAD的值，可以确定出第三角度信息∠EAD的值，然后根据建立的平面坐标系可以确定出第一定位参考物的第四位置信息，具体实施时，以机器人中心点A为原点，机器人车头的行驶方向为Y轴正方向建平面坐标系，基于上述步骤可以确定第一定位参考物的第四坐标位置，另外，机器人处理器可以根据第五距离信息FC、第六距离信息FB、第一摄像组件与第二摄像组件之间的第七距离信息BC，利用余弦定理确定出∠FBC的值，根据∠FBC的值可以确定出∠FBI的值，进一步的，根据第一摄像组件与第二摄像组件之间的第七距离信息BC、第一摄像组件和机器人中心之间的第八距离信息AC和第二摄像和机器人中心之间的第九距离信息AB确定出∠ABC的值，并根据∠ABC的值可以确定出∠ABI的值，进一步根据∠ABI和∠FBI的值确定出∠ABF的值，基于∠ABF的值和距离信息AB以及第六距离信息FB可以确定出第十一距离信息AF的值，进一步可以确定出∠BAI的值，根据∠BAG的和∠BAI值，可以确定出第四角度信息∠FAG的值。进一步的，根据建立的平面坐标系可以确定出第二定位参考物的第五位置信息及其对应的第五坐标位置，然后根据确定出的第四位置信息和第五位置信息确定第一定位参考物和第二定位参考物的中心位置信息。
在根据上述方法确定出第一定位参考物和第二定位参考物的中心位置之后，机器人的执行步骤与上述识别组件为激光组件的执行步骤相同，本公开实施例不再赘述。
本公开实施例提供了一种通过预先设置的识别组件识别运动路径上两侧定位参考物的位置，根据识别到的定位参考物的位置和获取的当前所在位置的第一位置信息确定识别到的两侧定位参考物的坐标位置，进一步根据获取的坐标位置确定两侧定位参考物的中心位置并确定当前所在位置和中心位置的偏差信息，根据偏差信息确定移动控制参数并基于移动控制参数控制机器人移动的方法，可以实现机器人沿两侧定位参考物的中心位置移动，节省了二维码的部署和维护成本，提高了机器人的灵活性和适应性。
下面以执行主体为机器人为例对本公开实施例提供的定位方法加以说明。
如图3a所示，为本公开实施例所提供的一种定位方法的流程图，可以包括以下步骤：
S301：在移动的过程中通过识别组件识别两侧定位参考物，分别获取与每一侧定位参考物的距离信息。
本步骤中，控制服务器接收来自上游系统的货物搬运请求，根据货运搬运请求生成控制指令发送给机器人，机器人响应于接收到的控制指令开始在仓储系统中移动，在移动的过程中安装在机器人上的识别组件开始识别两侧定位参考物，在识别到两侧定位参考物的情况下，记录下识别组件与每一侧定位参考物的距离信息。
S302：在识别到定位参考物的情况下，获取第一位置信息。
本步骤中，在机器人检测到识别组件识别到定位参考物的情况下，获取当前所在位置的第一位置信息。
S303：根据与每一侧定位参考物的距离信息和第一位置信息确定两侧定位参考物的中心位置信息。
本步骤中，机器人根据获取的与每一侧定位参考物的距离信息和第一位置信息确定每一侧定位参考物对应的参考位置信息，进一步根据确定的两侧定位参考物对应的参考位置信息确定其对应的中心位置信息。
在一种实施方式中，识别组件包括激光组件，激光组件按照预设的角度信息向两侧发射探测激光，利用发射的探测激光识别两侧定位参考物。具体实施时，距离信息包括激光组件与第一定位参考物之间的第一距离信息和激光组件与第二定位参考物之间的第二距离信息，预设的角度信息包括识别第一定位参考物的第一角度信息和识别第二定位参考物的第二角度信息，参考位置信息包括第一定位参考物的第二位置信息和第二定位参考物的第三位置信息。
其中，激光组件发射探测激光的角度信息和激光组件与机器人中心之间的距离信息可以作为机器人安装参数存储在存储器中，这样，机器人处理器21在需要时可以从存储器中读取探测激光的角度信息和激光组件与机器人中心之间的距离信息。
具体实施时，激光组件按照第一角度信息向第一定位参考物侧发射探测激光以及按照第二角度信息向第二定位参考物侧发射探测激光，在激光组件识别到两侧定位参考物之后，机器人处理器获取存储在存储器中包括激光组件与机器人中心的距离信息和激光组件发射的探测激光的角度信息的安装参数，其中，该角度信息包括第一角度信息和第二角度信息，基于第一角度信息和识别到第一定位参考物时的第一距离信息，以及第二角度信息和识别到第二定位参考物时的第二距离信息，可以按照以下步骤确定两侧定位参考物的中心位置信息，如图3b所示，为本公开实施例所提供的一种通过激光组件确定两侧定位参考物的中心位置信息的流程图，可以包括以下步骤：
S311：根据第一距离信息、第一角度信息和激光组件与机器人中心之间的距离信息确定第一定位参考物的第二位置信息。
具体实施时，根据激光组件识别到的和第一定位参考物的第一距离信息和第一角度信息以及从存储器中获取的包括激光组件与机器人中心的距离信息的安装参数，可以确定第一定位参考物的第二位置信息。
S312：根据第二距离信息、第二角度信息和激光组件与机器人中心之间的距离信息确定第二定位参考物的第三位置信息。
具体实施时，根据激光组件识别到的和第二定位参考物的第二距离信息和预设的第二角度信息以及从存储器中获取的包括激光组件与机器人中心的距离信息的安装参数，可以确定第二定位参考物的第三位置信息。
S313：根据第二位置信息和第三位置信息，确定第一定位参考物和第二定位参考物的中心位置信息。
在另一种实施方式中，识别组件包括双目摄像组件，所述双目摄像组件包括第一摄像组件和第二摄像组件，以及距离信息包括第一摄像组件与第一定位参考物的第三距离信息，第二摄像组件与第一定位参考物的第四距离信息，第一摄像组件与第二定位参考物的第五距离信息，第二摄像组件与第二定位参考物的第六距离信息，第一摄像组件与第二摄像组件之间的第七距离信息、第一摄像组件和第二摄像组件与机器人中心之间的第八距离信息和第九距离信息，其中，第一位置信息对应的第一位置为机器人中心位置，进一步的，可以按照以下步骤确定两侧定位参考物的中心位置信息，如图3c所示，为本公开实施例所提供的一种通过双目摄像组件确定两侧定位参考物的中心位置信息的流程图，可以包括以下步骤：
S321：根据第三距离信息、第四距离信息、第七距离信息、第八距离信息和第九距离信息，确定第十距离信息和第三角度信息。
其中，第七距离信息、第八距离信息和第九距离信息可以是基于在存储器中获取的安装参数确定的，第十距离信息为图2c中的AE的值，第三角度信息为图2c中∠EAD的值。
S322：根据第十距离信息和第三角度信息确定第一定位参考物对应的 第四位置信息。
S323：根据第五距离信息、第六距离信息、第七距离信息、第八距离信息和第九距离信息，确定第十一距离信息和第四角度信息。
本步骤中，第十一距离信息为图2c中的AF的值，第四角度信息为图2c中∠FAG的值。
S324：根据第十一距离信息和第四角度信息确定第二定位参考物对应的第五位置信息。
S325：根据第四位置信息和第五位置信息确定第一定位参考物和第二定参考物的中心位置信息。
基于上述步骤，可以在识别组件为双目摄像组件的情况下，确定第一定位参考物和第二定参考物的中心位置信息。
S304：根据中心位置信息和第一位置信息确定移动控制参数。
本步骤中，机器人根据确定的中心位置信息和第一位置信息确定出两个位置的偏差信息，根据偏差信息确定机器人的移动控制参数。
具体实施时，定位参数可以包括移动方向和移动距离，机器人根据第一位置信息的横坐标和中心位置信息的横坐标之间的差值，确定机器人在横坐标上的移动距离和移动方向；根据第一位置信息的纵坐标和中心位置信息的纵坐标之间的差值，确定机器人在纵坐标上的移动距离和移动方向。
S305：基于移动控制参数，控制机器人根据中心位置信息进行移动。
本步骤中，机器人基于确定的移动控制参数控制机器人向中心位置移动，并最终实现沿两侧定位参考物的中心线移动。
本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的撰写顺序并不意味着严格的执行顺序而对实施过程构成任何限定，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。
最后应说明的是：以上所述实施例，仅为本公开的具体实施方式，用 以说明本公开的技术方案，而非对其限制，本公开的保护范围并不局限于此，尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本公开实施例技术方案的精神和范围，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应所述以权利要求的保护范围为准。

Claims (11)

  1. 一种机器人，包括机器人处理器、识别组件和定位组件，其中：
    所述识别组件，配置为在机器人移动的过程中，检测到两侧定位参考物的情况下，分别获取所述识别组件与每一侧定位参考物的距离信息，并发送给所述机器人处理器；
    所述定位组件，配置为在所述识别组件识别到所述定位参考物的情况下，获取所述机器人当前所处位置对应的第一位置信息，并发送给所述机器人处理器；
    所述机器人处理器，配置为根据收到的、与每一侧定位参考物的距离信息和所述第一位置信息，确定两侧定位参考物之间的中心位置信息；根据所述中心位置信息和所述第一位置信息确定移动控制参数；基于所述移动控制参数控制所述机器人沿两侧定位参考物之间的中心位置进行移动。
  2. 根据权利要求1所述的机器人，所述识别组件包括激光组件，所述激光组件按照预设的角度信息向两侧发射探测激光；以及
    所述机器人处理器，配置为根据所述距离信息、所述预设的角度信息和所述第一位置信息，确定每一侧定位参考物对应的参考位置信息；根据每一侧定位参考物对应的参考位置信息，确定两侧定位参考物之间的中心位置信息。
  3. 根据权利要求2所述的机器人，所述距离信息包括所述激光组件与第一定位参考物之间的第一距离信息，和所述激光组件与第二定位参考物之间的第二距离信息，所述预设的角度信息包括识别第一定位参考物的第一角度信息和识别第二定位参考物的第二角度信息，所述参考位置信息包括第一定位参考物的第二位置信息和第二定位参考物的第三位置信息，以及
    所述机器人处理器，配置为根据所述第一距离信息、所述第一角度信息和所述激光组件与机器人中心之间的距离信息，确定所述第一定位参考物的第二位置信息；根据所述第二距离信息、所述第二角度信息和所述激光组件与机器人中心之间的距离信息，确定所述第二定位参考物的第三位置信息；根据所述第二位置信息和所述第三位置信息，确定所述第一定位参考物和所述第二定位参考物的中心位置信息。
  4. 根据权利要求1所述的机器人，所述识别组件包括双目摄像组件，所述双目摄像组件包括第一摄像组件和第二摄像组件；所述距离信息包括第一摄像组件与第一定位参考物的第三距离信息，第二摄像组件与第一定位参考物的第四距离信息，第一摄像组件与第二定位参考物的第五距离信息，第二摄像组件与第二定位参考物的第六距离信息；
    所述机器人处理器，配置为根据第三距离信息、第四距离信息、第一摄像组件与第二摄像组件之间的第七距离信息、第一摄像组件与所述机器人中心之间的第八距离信息、和第二摄像组件与所述机器人中心之间的第九距离信息，确定第十距离信息和第三角度信息；根据所述第十距离信息和第三角度信息确定所述第一定位参考物对应的第四位置信息；根据第五距离信息、第六距离信息、第七距离信息、第八距离信息和第九距离信息，确定第十一距离信息和第四角度信息，根据所述第十一距离信息和第四角度信息确定所述第二定位参考物对应的第五位置信息；根据所述第四位置信息和所述第五位置信息确定两侧定位参考物之间的中心位置信息。
  5. 根据权利要求1所述的机器人，所述移动控制参数包括移动方向和移动距离；以及
    所述机器人处理器，配置为根据所述第一位置信息的横坐标和所述中心位置信息的横坐标之间的差值，确定所述机器人在横坐标上的移动距离和移动方向；以及根据所述第一位置信息的纵坐标和所述中心位置信息的纵坐标之间的差值，确定所述机器人在纵坐标上的移动距离和移动方向。
  6. 一种仓储系统，包括至少一个如权利要求1至5任一项所述机器人、控制服务器和设置于仓储空间内的定位参考物；
    所述控制服务器，配置为响应于接收到的货物搬运请求，根据货物搬运请求中携带的货架位置信息和货箱位置信息确定执行货箱搬运操作的目标机器人，并向目标机器人发送控制指令；
    所述目标机器人，配置为接收所述控制指令，并响应于所述控制指令，沿两侧定位参考物之间的中心位置进行移动。
  7. 一种定位方法，包括：
    在移动的过程中通过识别组件识别两侧定位参考物，分别获取与每一侧定位参考物的距离信息；
    在识别到所述定位参考物的情况下，获取第一位置信息；
    根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物之间的中心位置信息；
    根据所述中心位置信息和所述第一位置信息确定移动控制参数；
    基于所述移动控制参数，控制机器人沿两侧定位参考物之间的中心位置进行移动。
  8. 根据权利要求7所述的方法，所述识别组件包括激光组件，所述激光组件按照预设的角度信息向两侧发射探测激光；以及
    根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息，具体包括：
    根据所述距离信息、所述预设的角度信息和所述第一位置信息确定每一侧定位参考物的参考位置信息；
    根据每一侧定位参考物对应的参考位置信息，确定两侧定位参考物之间的中心位置信息。
  9. 根据权利要求8所述的方法，所述距离信息包括所述激光组件与第一定位参考物之间的第一距离信息和所述激光组件与第二定位参考物之间的第二距离信息，所述预设的角度信息包括识别第一定位参考物的第一角度信息和识别第二定位参考物的第二角度信息，所述参考位置信息包括第一定位参考物的第二位置信息和第二定位参考物的第三位置信息，以及
    所述根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息，包括：
    根据所述第一距离信息、所述第一角度信息和所述激光组件与机器人中心之间的距离信息确定所述第一定位参考物的第二位置信息；
    根据所述第二距离信息、所述第二角度信息和所述激光组件与机器人中心之间的距离信息确定所述第二定位参考物的第三位置信息；
    根据所述第二位置信息和所述第三位置信息，确定所述第一定位参考物和所述第二定位参考物的中心位置信息。
  10. 根据经权利要求7所述的方法，所述识别组件包括双目摄像组件，所述双目摄像组件包括第一摄像组件和第二摄像组件；以及所述距离信息包括第一摄像组件与第一定位参考物的第三距离信息，第二摄像组件与第一定位参考物的第四距离信息，第一摄像组件与第二定位参考物的第五距离信息，第二摄像组件与第二定位参考物的第六距离信息，以及
    根据所述与每一侧定位参考物的距离信息和所述第一位置信息确定两侧定位参考物的中心位置信息，具体包括：
    根据第三距离信息、第四距离信息、第一摄像组件与第二摄像组件之间的第七距离信息、第一摄像组件和第二摄像组件与所述机器人中心之间的第八距离信息和第二摄像组件与所述机器人中心之间的第九距离信息，确定第十距离信息和第三角度信息；
    根据所述第十距离信息和所述第三角度信息确定所述第一定位参考物对应的第四位置信息；
    根据第五距离信息、第六距离信息、第七距离信息、第八距离信息和第九距离信息，确定第十一距离信息和第四角度信息；
    根据所述第十一距离信息和所述第四角度信息确定所述第二定位参考物对应的第五位置信息；
    根据所述第四位置信息和所述第五位置信息确定所述第一定位参考物和所述第二定参考物之间的中心位置信息。
  11. 根据权利要求7所述的方法，所述移动控制参数包括移动方向和移动距离；以及
    根据所述中心位置信息和所述第一位置信息确定移动控制参数，具体包括：
    根据所述第一位置信息的横坐标和所述中心位置信息的横坐标之间的差值，确定所述机器人在横坐标上的移动距离和移动方向；
    根据所述第一位置信息的纵坐标和所述中心位置信息的纵坐标之间的差值，确定所述机器人在纵坐标上的移动距离和移动方向。
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