WO2022143465A1 - 一种机器人的位置校正方法以及相关设备 - Google Patents

一种机器人的位置校正方法以及相关设备 Download PDF

Info

Publication number
WO2022143465A1
WO2022143465A1 PCT/CN2021/141231 CN2021141231W WO2022143465A1 WO 2022143465 A1 WO2022143465 A1 WO 2022143465A1 CN 2021141231 W CN2021141231 W CN 2021141231W WO 2022143465 A1 WO2022143465 A1 WO 2022143465A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
distance
target
target object
reference line
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/CN2021/141231
Other languages
English (en)
French (fr)
Inventor
薛景涛
王慧
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.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies 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 Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP21914202.3A priority Critical patent/EP4246269B1/en
Publication of WO2022143465A1 publication Critical patent/WO2022143465A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV 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
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • 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
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/40—Indoor domestic environment
    • 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
    • G05D2111/30—Radio signals

Definitions

  • the present application relates to the field of artificial intelligence, and in particular, to a method for correcting the position of a robot and related equipment.
  • an intelligent cleaning robot is launched, and the robot adopts absolute positioning technology.
  • the environment of the entire cleaning area is stored in the robot, and the surrounding environment of the robot is collected in real time, so as to determine the current surrounding environment of the robot and the environment of the entire cleaning area , to determine the absolute position of the robot in the cleaning area.
  • the gravity of the robot can easily cause the robot to fall into the household goods, so that the robot cannot collect the surrounding environment, that is, it cannot realize the positioning of the robot, and thus cannot determine the position of the robot. Make corrections.
  • the embodiments of the present application provide a method for calibrating the position of a robot and related equipment, using a reference line to correct the position of the robot using relative positioning technology, and providing a solution for automatic position correction of the robot during movement.
  • the embodiments of the present application provide a method for correcting the position of a robot, which can be used in the field of intelligent robots in the field of artificial intelligence.
  • the method includes: the electronic device obtains the first actual distance between the robot and the reference line in the target direction and the first heading angle of the robot relative to the reference line through the radar/radar detection antenna, the reference line is a boundary line of the target object, and the target direction is the vertical direction of the reference line, the first heading angle is the angle between the moving direction of the robot and the reference line; the target object is the object related to the robot's task, and the target object can be a bed, floor, blanket, grass or other robots. Objects that can work, etc.
  • the electronic device obtains the expected distance between the robot and the reference line in the target direction according to the planned path of the robot and the preset speed of the robot, and according to the expected distance between the robot and the reference line in the target direction, the first actual distance and the first heading angle , control the robot to move, so that the second actual distance between the moved robot and the reference line in the target direction is the expected distance.
  • the radar can measure the actual distance and the first heading angle between the robot and the reference line by sending out electromagnetic waves, and according to the robot and the reference line
  • the expected distance, the actual distance and the first heading angle between the lines, control the robot to move, so that the actual distance between the moved robot and the reference line is the expected distance, that is, the reference line is used to use relative positioning technology to realize the robot.
  • Position correction provides a solution for the automatic position correction of the robot during the movement process; in addition, this solution can not only be applied to the scene when the robot is working on the surface of cotton or silk objects, but also can be applied to the robot being In scenes covered by cotton objects or silk objects, since the robot does not rely on the acquisition of the surrounding environment for positioning, the impact of the working environment on the robot's movement process is greatly reduced, and the application scenarios of the robot are greatly expanded.
  • the electronic device controls the robot to move according to the expected distance between the robot and the reference line in the target direction, the first actual distance and the first heading angle, so that the moved robot is connected to the reference line.
  • the second actual distance in the target direction is the expected distance, including: the electronic device calculates the first error distance of the robot in the target direction according to the expected distance and the first actual distance, and controls the robot to rotate according to the first heading angle to
  • the first moving direction of the rotated robot is perpendicular to the reference line; the first moving direction may be a moving direction approaching the reference line or a direction away from the reference line.
  • the electronic device controls the robot to move along the first moving direction according to the first error distance, that is, controls the robot to move the first error distance along the first moving direction, so that the moved robot is the second actual distance from the reference line in the target direction. is the expected distance.
  • the electronic device controls the robot to rotate according to the planned path of the robot, so as to rotate the actual heading angle of the robot relative to the reference line to the expected heading angle.
  • controlling the robot to move the first error distance along the first moving direction here means that the electronic device wants to control the robot to move the first error distance along the first moving direction, but in actual situations, the robot may move along the first error distance along the first moving direction.
  • a third actual distance is moved in a moving direction, and a large difference between the third actual distance and the first error distance is small.
  • a specific implementation scheme for correcting the distance of the robot in the target direction by using the expected distance, the first actual distance and the first heading angle of the reference line in the target direction is provided. It will first control the robot to rotate according to the first heading angle of the robot relative to the reference line, so that the first moving direction of the rotated robot is perpendicular to the reference line, and then control the robot after correcting the distance of the robot in the target direction.
  • the heading angle of the robot is also corrected to ensure the planability of the moving path of the robot, thereby ensuring the robot The moving path can fully cover the entire target object.
  • the method further includes: passing the electronic device through The radar collects the first point cloud data of the environment within the target range of the robot, and the environment within the target range includes the environment in front of the robot in the current detection range of the radar; further, taking the current orientation of the robot as the center line, the environment within the target range may include The environment in front of the robot within the first angle range to the left and right of the center line, that is, the current detection range of the first radar is within the first angle range to the left and right of the center line, and the first angle range can be 30 degrees, 50 degrees, 60 degrees, 80 degrees degrees or other values, etc.
  • Point cloud data refers to the collection of points that express the spatial distribution of objects and the surface characteristics of objects in the same spatial reference system. After obtaining the spatial coordinates of each sampling point on the surface of the object in the environment within the target range, the collection of points is obtained. .
  • the electronic device controls the robot to move to the boundary line of the target object, and the robot moves to the boundary line of the target object during the process of moving the robot to the boundary line of the target object. It detects whether the robot is located in the edge area of the target object, where the edge area of the target object can also be called the dangerous area of the target object and the cliff area of the target object.
  • the edge area of the target object is not a fixed area
  • the robot determines which areas are edge areas and which areas are non-edge areas in the specific target object based on the detection results, that is, the robot will not divide the edge area and non-edge area of the target object, which areas in the specific target object are It is an edge area, and which area is a non-edge area is determined by the robot based on the detection result; when the distance between the robot and the boundary line of the target object is less than the first threshold, and the robot is not located in the edge area of the target object, the target object is The boundary line is determined as the baseline.
  • a solution is provided for the robot to automatically determine the reference line, so that no matter where the user places the robot on the target object, the robot can find the reference line, and use the This reference line corrects the position of the robot; in addition, not any line detected (that is, any edge line of the target object) is used as the reference line, but only the boundary line between the robot and the target object.
  • the boundary line of the target object will be determined as the reference line, that is, the reference line is not only an edge line of the target object, but also the reference line is not located in the target object. the edge area, thus avoiding the robot falling off the target object in the process of finding the reference line.
  • the electronic device determines the boundary line of the target object in the surrounding environment within the target range of the robot according to the first point cloud data, including: the electronic device acquires at least one pre-stored second point cloud data, and obtain the similarity between the first point cloud data and each second point cloud data in at least one second point cloud data, and each second point cloud data represents the point of the boundary line of the object collected by the radar For cloud data, the relative angles between the boundary lines and the radar corresponding to different second point cloud data are different.
  • target point cloud data in at least one second point cloud data it is determined that there is a boundary line of the target object in the surrounding environment within the target range of the robot, and the similarity between the target point cloud data and the first point cloud data is greater than or equal to Preset similarity threshold.
  • the electronic device performs a fitting operation on the first point cloud data, and if the fitting result of the first point cloud data is a linear function and the fitting error of the linear function is less than a preset error threshold, the surrounding environment within the target range of the robot is determined. There is a boundary line of the target object in .
  • the fitting error is used to reflect the degree of aggregation of the first point cloud data relative to the fitted linear function.
  • the method further includes: the electronic device controls the robot to move along the The reference line moves.
  • the robot moves to the edge area of the target object, control the robot to pause the movement, rotate the robot 180 degrees on the spot, take the current position of the robot as the reference point, and also take the current orientation of the robot as the 0-degree orientation.
  • the reference point is the starting point for the robot to perform the task.
  • the task may be mite removal, vacuuming, dehumidification, ironing, mowing, collecting bacteria samples, or other types of tasks, and so on.
  • the electronic device obtains the first actual distance between the robot and the reference line in the target direction and the first heading angle of the robot relative to the reference line, including: during the process of the robot performing the task, the electronic device obtains the distance between the robot and the reference line in the target direction. The first actual distance and the first heading angle of the robot relative to the reference line.
  • the reference line is an edge line of the target object
  • the reference point is the edge area on the edge line, that is, the reference point is a vertex of the target object, and a vertex of the target object is used as the robot's task execution process It is easier to plan the movement path of the robot, and can plan the execution task path without repetition, which makes the execution task path of the robot more organized, which is beneficial to improve the efficiency of the robot execution process and reduce the robot execution task. duration.
  • the movement path of the robot during the execution of the task is a bow shape
  • the bow shape movement path includes a second movement direction and a third movement direction
  • the second movement direction is parallel to the reference line
  • the third moving direction is perpendicular to the reference line.
  • a vertex of the target object is used as the starting point
  • the robot is controlled to move according to a bow-shaped path during the execution of the task
  • the position of the robot and the heading angle of the robot are timely checked during the execution of the task. Correction not only realizes that the moving path of the robot can fully cover the target object, but also avoids the repetition of the moving path of the robot.
  • the method before the electronic device controls the robot to move toward the boundary line of the target object, the method further includes: the electronic device obtains at least one first distance between the robot and the detected object below the robot through a radar, And select the largest distance from the at least one first distance as the target distance; the electronic device detects whether the robot is located in the edge area of the target object during the movement of the robot to the boundary line of the target object, including: at the boundary line of the robot to the target object During the movement, the electronic device obtains the second distance between the robot and the detected object under the robot through the radar; in the case that the first condition is satisfied according to the target distance and the second distance, the electronic device determines that the robot is located at the edge of the target object area, the first condition indicates that the difference between the second distance and the target distance is greater than or equal to the second threshold.
  • the electronic device obtains the distance between the robot and the detected object under the robot in real time through the radar, and the electromagnetic wave emitted by the radar can penetrate cotton or silk objects, so when the robot is not located in the edge area of the target object
  • the distance between the robot and the bed/spring mattress is detected by the radar
  • the distance between the robot and the floor is detected by the radar
  • the distance between the robot and the floor is The distance will be much larger than the distance between the robot and the bed board/spring mattress.
  • the target distance is the maximum value obtained from at least one distance between the robot and the bed board/spring mattress.
  • the solution provided by the electronic device through the radar to autonomously detect and generate the target distance can improve the accuracy of the robot's edge judgment process to avoid the robot falling from the target object; in addition, since the electromagnetic waves emitted by the radar can penetrate cotton objects, If the size of the quilt/cotton mattress and other cotton items on the bed exceeds the size of the bed board, this solution can enable the robot to determine that the robot is in the edge area of the bed board when it is in the edge area, and then stop moving in time. The situation is not enough to support the robot, that is, it is not enough to prevent the robot from slipping.
  • the robot When the robot is located at the edge area of the bed, it can stop moving forward in time, and it can also prevent the robot from falling from the target object, thereby avoiding the user wasting time to drop the robot. Repositioning on the target object also ensures the continuity of the robot's movement process.
  • the electronic device adds the target distance and the second threshold to obtain a third threshold, and the electronic device acquires echo data corresponding to the detected object under the robot in real time through radar to generate a The corresponding change curve of the echo data, and then obtain the second distance between the robot and the probe under the robot in real time, and determine whether the second distance is greater than or equal to the third threshold, if the second distance is greater than or equal to the third threshold, Then it is determined that the robot is located in the edge area of the target object,
  • the electronic device obtains the second distance between the robot and the detected object below the robot in real time through radar, calculates the difference between the second distance and the target distance, and judges the difference between the second distance and the target distance. Whether the difference between the target distances is greater than or equal to the second threshold, if it is greater than or equal to the second threshold, it is determined that the robot is located at the edge area of the target object.
  • the method further includes: during the process of the robot performing the task, the electronic device obtains a third distance between the robot and the detected object below the robot through radar; When the distance is determined to satisfy the first condition, the electronic device determines that the robot is located in the edge area of the target object, and controls the robot to change the moving direction.
  • the robot can detect in real time whether the robot is located in the edge area of the target object, and when it is determined that the robot is located in the edge area of the target object, the robot can be controlled to change the moving direction in time, so as to prevent the robot from performing the task.
  • the robot falls off the target object, it can improve the consistency of the robot in the process of performing the task, that is, avoid the user wasting energy in the process of the robot performing the task, so as to improve the user viscosity of this solution.
  • the embodiments of the present application provide an edge region detection method, which can be used in the field of intelligent robots in the field of artificial intelligence.
  • the method includes: the electronic device obtains at least one first distance, and selects the largest distance from the at least one first distance as the target distance, where the first distance is the distance between the robot and the probe under the robot before the robot moves; Obtain the second distance, which is the distance between the robot and the probe under the robot during the movement of the robot; if the first condition is satisfied according to the target distance and the second distance, determine that the robot is located at the edge of the target object area, where the target object is an object related to the robot performing the task, the probability of the robot falling from the edge area of the target object is greater than the probability of the robot falling from the non-edge area of the target object, and the first condition indicates that the second distance is between the target distance.
  • the difference is greater than the first threshold.
  • the method further includes: the electronic device acquires the target range of the robot through radar
  • the first point cloud data of the internal environment, the environment within the target range includes the environment in front of the robot in the current detection range of the radar; in the case where the boundary line of the target object exists in the surrounding environment within the target range of the robot determined according to the first point cloud data and control the robot to move to the boundary line of the target object; the method further includes: when the distance between the robot and the boundary line of the target object is less than a first threshold, and the robot is not located in the edge area of the target object, the electronic device will target the target object.
  • the boundary line of the object is determined as the reference line, and the reference line is used to assist the robot in positioning during the robot's task execution.
  • the electronic device may also perform the steps performed by the electronic device in each possible implementation manner of the first aspect.
  • the steps performed by the electronic device in each possible implementation manner of the first aspect.
  • the embodiments of the present application provide a position correction device, which can be used in the field of intelligent robots in the field of artificial intelligence.
  • the position correction device includes: an acquisition module for acquiring the first actual distance between the robot and the reference line in the target direction and the first heading angle of the robot relative to the reference line, where the reference line is a boundary line of the target object, and the target direction is the reference The vertical direction of the line, the first heading angle is the angle between the moving direction of the robot and the reference line; the control module is used for the expected distance, the first actual distance and the first heading angle between the robot and the reference line in the target direction , control the robot to move, so that the second actual distance between the moved robot and the reference line in the target direction is the expected distance.
  • the position correction apparatus may also perform the steps performed by the electronic device in each possible implementation manner of the first aspect.
  • the specific implementation steps and the beneficial effects brought by each possible implementation manner can refer to the descriptions in the various possible implementation manners in the first aspect, and will not be repeated here.
  • an embodiment of the present application provides an edge region detection device, characterized in that the edge region detection device includes: an acquisition module configured to acquire at least one first distance, and select the largest distance from the at least one first distance The distance is the target distance, the first distance is the distance between the robot and the probe under the robot before the robot moves; the acquisition module is also used to obtain the second distance, and the second distance is the distance between the robot and the robot under the robot during the movement of the robot.
  • the distance between the detected objects; the determining module is used to determine that the robot is located in the edge area of the target object under the condition that the first condition is satisfied according to the target distance and the second distance, wherein the robot falls from the edge area of the target object.
  • the probability is greater than the probability that the robot falls from a non-edge area of the target object, and the first condition indicates that the difference between the second distance and the target distance is greater than a first threshold.
  • the edge region detection apparatus may also perform the steps performed by the electronic device in each possible implementation manner of the second aspect.
  • the fourth aspect and various possibilities of the fourth aspect of the embodiment of the present application For the specific implementation steps of the implementation manner and the beneficial effects brought by each possible implementation manner, reference may be made to the descriptions in the various possible implementation manners in the second aspect, and details are not repeated here.
  • an embodiment of the present application provides an electronic device, which may include a processor, the processor is coupled with a memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the above-mentioned first aspect is implemented The steps executed by the electronic device, or, when the program instructions stored in the memory are executed by the processor, the steps executed by the electronic device described in the second aspect above are implemented.
  • an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when it runs on a computer, causes the computer to execute the position described in the first aspect above The correction method, or, causing the computer to execute the edge region detection method described in the second aspect above.
  • an embodiment of the present application provides a circuit system, the circuit system includes a processing circuit, and the processing circuit is configured to perform the steps performed by the electronic device described in the first aspect, or perform the second aspect. The steps performed by the electronic device.
  • an embodiment of the present application provides a computer program that, when run on a computer, causes the computer to execute the steps performed by the electronic device described in the first aspect above, or execute the electronic device described in the second aspect above. The steps performed by the device.
  • an embodiment of the present application provides a chip system, where the chip system includes a processor for implementing the functions involved in the above aspects, for example, sending or processing the data and/or information involved in the above method .
  • the chip system further includes a memory for storing necessary program instructions and data of the server or the communication device.
  • the chip system may be composed of chips, or may include chips and other discrete devices.
  • FIG. 1 is a schematic structural diagram of a robot provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a method for calibrating a position of a robot according to an embodiment of the present application
  • FIG. 3 is two schematic diagrams of change curves of echo data corresponding to a probe below the robot in the method for correcting the position of the robot provided by the embodiment of the present application;
  • FIG. 4 is a schematic diagram of a first target range in a method for calibrating a position of a robot according to an embodiment of the present application
  • FIG. 5 is two schematic diagrams of the second point cloud data in the method for correcting the position of the robot according to the embodiment of the present application;
  • FIG. 6 is another schematic diagram of a change curve of echo data corresponding to a probe under the robot in the method for correcting the position of the robot provided by the embodiment of the present application;
  • FIG. 7 is a schematic diagram of determining a reference line in a method for calibrating a position of a robot provided by an embodiment of the present application;
  • FIG. 8 is another schematic diagram of determining a reference line in a method for calibrating a position of a robot provided by an embodiment of the present application;
  • FIG. 9 is a schematic diagram of a detection point of a radar in a method for correcting a position of a robot provided by an embodiment of the present application;
  • FIG. 10 is a schematic diagram of the first actual distance and the first heading angle in the position correction method of the robot provided by the embodiment of the application;
  • FIG. 11 is a schematic diagram of an expected distance, a first actual distance, and a first heading angle in a method for correcting a position of a robot provided by an embodiment of the present application;
  • FIG. 12 is a schematic structural diagram of a position correction device provided by an embodiment of the present application.
  • FIG. 13 is another schematic structural diagram of a position correction device provided by an embodiment of the present application.
  • FIG. 14 is a schematic structural diagram of an edge region detection apparatus provided by an embodiment of the present application.
  • FIG. 15 is another schematic structural diagram of an edge region detection apparatus provided by an embodiment of the present application.
  • FIG. 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the solutions provided in the embodiments of the present application can be applied to robots.
  • the robot removes mites from the quilt on the bed, especially when the robot removes mites from the mattress under the quilt, the robot is not only easy to be affected by gravity As a result, the robot is trapped in household items and covered under the quilt, and the robot cannot collect the surrounding environmental information, so that the robot cannot be positioned by comparing the environmental information around the robot and the environment of the entire target object to achieve the location of the robot. position for correction.
  • the robot is dusting the floor of the toy room, but since there are many toys scattered in the toy room, the scattered toys will also prevent the robot from collecting the surrounding environment, so that the correction of the robot position cannot be realized.
  • a new positioning method needs to be used to position the robot, so as to correct the position of the robot.
  • FIG. 1 is a schematic structural diagram of the robot provided by the embodiment of the present application.
  • the robot 1 includes a processing module 10 , a radar 20 and a driving module 30 .
  • the processing module 10 can be embodied as a processing chip, and further, the processing chip can be embodied as a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable logic gate Chips such as field programmable gate array (FPGA), neural-network processing unit (NPU) or graphics processing unit (GPU).
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • FPGA field programmable logic gate Chips
  • NPU neural-network processing unit
  • GPU graphics processing unit
  • the radar 20 is used to emit electromagnetic waves, and the frequency bands of the electromagnetic waves include but are not limited to 24G, 77G, 60G, 5G, 2.4G or other frequency bands, which are not limited here.
  • the driving module 30 is used to control the robot to rotate or move on the spot according to the instructions issued by the processing module 10.
  • the driving module 30 can adopt electric driving technology, for example, the driving module 30 can use a stepping motor, a servo motor, etc., and the driving module 30 Hydraulic drive technology, pneumatic drive technology, or other drive technologies can also be used, which are not limited here.
  • the processing module 10 can obtain the relative position information between the reference line and the robot 1 through the radar 20, that is, obtain the actual distance between the robot 1 and the reference line in the target direction and the actual heading angle of the robot 1 relative to the reference line
  • the processing module 10 can also according to the expected distance, the first actual distance and the first heading angle of the robot and the reference line in the target direction, by issuing instructions to the drive module 30, to control the robot to move, so that the robot after the movement and the reference
  • the second actual distance of the line in the target direction is the expected distance.
  • the reference line is used to correct the position of the robot by using the relative positioning technology, and a solution for automatic position correction of the robot in the moving process is provided.
  • FIG. 1 is only an example to facilitate understanding of the hardware structure of the robot, and in practical application products, the robot may also be in other forms, which are not limited here.
  • FIG. 2 is a schematic flowchart of the method for correcting the position of the robot provided by the embodiment of the present application.
  • the method may include:
  • the electronic device acquires at least one first distance between the robot and a probe under the robot through radar, and selects the largest distance from the at least one first distance as the target distance.
  • At least one first distance between the robot and the detected object below the robot can be obtained through radar, and the largest distance can be selected from the at least one first distance as the target distance.
  • the electronic device can be expressed as the robot, and can also be expressed as a processor in the robot.
  • the electronic device can drive the robot to move slightly through the driving module of the robot, so as to drive the radar integrated in the robot to move slightly, thereby enabling the detection function of the radar.
  • the micro-motion of the robot includes but is not limited to small-scale movement such as front and rear micro-motion, left-right micro-motion, in-situ rotation, etc., etc., and it is not exhaustive here. It should be noted that the process of robot micro-motion is not regarded as a robot. process of progress.
  • the electronic device may perform the detection operation through one or more radars dedicated to detecting the distance of the detection object below the robot, or the electronic device may perform the detection operation through one or more first detection antennas of the radar, the first detection antenna being
  • the radar includes at least two antennas dedicated to detecting the distance of the object below the robot.
  • the electronic device detects the reflection signal returned by the detection object under the robot through the radar or the first detection antenna specially used for detecting the distance of the detection object under the robot, and obtains echo data corresponding to the reflection signal, so as to generate the echo data corresponding to the reflection signal.
  • the corresponding change curve is obtained, and at least one first distance between the robot and the probe under the robot is obtained, and then the maximum distance can be selected as the target distance.
  • FIG. 3 are two schematic diagrams of variation curves of echo data corresponding to the probe under the robot in the method for correcting the position of the robot provided by the embodiment of the present application.
  • FIG. 3 includes two sub-schematic diagrams (a) and (b).
  • the sub-schematic diagram (a) of FIG. 3 takes the robot sterilizing bedding (that is, an example of a target object) equipped with a spring mattress as an example.
  • the sub-schematic diagram (b) of 3 takes the robot sterilizing the bedding on the wooden bed (that is, another example of the target object) as an example.
  • the abscissa represents the distance between the robot and the probe under the robot
  • the distance value corresponding to the peak position in the change curve corresponding to the echo data represents the robot and the robot.
  • the electronic device collects point cloud data of the environment within the target range of the robot through the radar, and the environment within the target range includes the environment in front of the robot in the current detection range of the radar.
  • the initial orientation of the robot (for the convenience of distinguishing it from the subsequent description, it may also be referred to as the first orientation) can be initialized to 0°
  • the initial orientation of the robot is the current orientation of the robot's wheels.
  • the first point cloud data of the environment within the first target range of the robot is collected by the first radar.
  • the environment within the first target range includes the environment in front of the robot in the current detection range of the first radar.
  • the environment within the first target range may include a first angle range to the left and right of the centerline
  • the environment in front of the robot that is, the current detection range of the first radar is within the first angle range left and right of the center line, and the first angle range can be 30 degrees, 50 degrees, 60 degrees, 80 degrees or other values, etc., Not exhaustive here.
  • the first point cloud data is a kind of point cloud data.
  • Point cloud data may be referred to as point cloud, which refers to a collection of points that express the spatial distribution of objects and the surface characteristics of objects in the same spatial reference system. After obtaining the spatial coordinates of each sampling point on the surface of the object within the target range, a collection of points is obtained, which is called a point cloud.
  • the electronic device drives the robot to move slightly through the driving module of the robot, and detects the reflected signal generated by the environment within the first target range, so as to obtain echo data corresponding to the environment within the first target range, and the echo data includes
  • the echo data of each frame are respectively subjected to two-dimensional fast Fourier transform (2D-FFT), and the obtained spectral information is subjected to constant false alarm rate (CFAR) detection, and the angle estimation algorithm is used to generate the first image of the robot.
  • 2D-FFT two-dimensional fast Fourier transform
  • CFAR constant false alarm rate
  • the first point cloud data of the environment within a target range is used to generate the first image of the robot.
  • FIG. 4 is a schematic diagram of the first target range in the method for calibrating the position of the robot provided by the embodiment of the present application.
  • A1 represents a radar on the robot
  • A2 that is, the waveform area sent out in front of A1 in Figure 4
  • the example in Figure 4 is only for the convenience of understanding this solution. limited to this program.
  • the electronic device controls the robot to change its orientation to a second orientation, and the second orientation is the initial orientation left/right rotated by one or more first orientations. angle obtained.
  • the electronic device collects the third point cloud data of the environment within the second target range corresponding to the rotated robot through the radar.
  • the first angle can be 20 degrees, 30 degrees, 45 degrees, 50 degrees, or other values, as long as the value of the first angle is less than the value of the first angle range, which is not exhaustive here.
  • the environment within the second target range may include the environment in front of the robot within the left and right first angle ranges of the current orientation of the rotated robot.
  • multiple radars or multiple detection antennas can be integrated in the robot in different directions, and the electronic device can also directly pass the second radar or the second detection antenna without rotating the robot to collect the range of the second target.
  • the second radar and the first radar are radars arranged in different azimuths
  • the second detection antenna and the first detection antenna are detection antennas arranged in different azimuths.
  • the embodiment of the present application does not limit the execution order between steps 201 and 202, and the electronic device may execute steps 201 and 202 at the same time.
  • the radar of the distance between the robot and the detected object under the robot, and the radar specially used to detect the environment in front of the robot, the electronic device can perform steps 201 and 202 respectively through different radars; in another case, the electronic device A detection antenna specially used to obtain the distance between the robot and the probe under the robot, and a detection antenna specially used to detect the environment in front of the robot can be configured in the device, and the electronic device can perform steps 201 and 201 through different detection antennas respectively.
  • the electronic device may perform step 201 first, and then perform step 202; or, the electronic device may perform step 202 first, and then perform step 201.
  • the electronic device determines whether there is a boundary line of the target object in the environment within the target range of the robot. If so, go to step 204; if not, go to step 202 again.
  • the electronic device after acquiring the first point cloud data or the third point cloud data in step 202, the electronic device will determine the environment within the target range of the robot according to the first point cloud data or the third point cloud data Whether there is a boundary line of the target object, if it exists, go to step 204; if not, the center goes to step 202 to continue to obtain environmental information around the robot, and the target object is an object related to the robot's task execution.
  • one or more second point cloud data may be pre-stored in the electronic device, and each second point cloud data represents the point cloud data of the line collected by the radar, which is different from the different The relative angles between the lines corresponding to the two point cloud data and the radar can be different.
  • the electronic device judging whether there is a boundary line of the target object in the environment within the target range of the robot may include: the electronic device acquiring each of the first point cloud data/third point cloud data and the at least one second point cloud data obtained in step 202 The first similarity between the second point cloud data, and determine whether each first similarity is greater than or equal to a preset similarity threshold, and if there is target point cloud data in at least one second point cloud data, determine the robot's The boundary line of the target object exists in the surrounding environment within the target range.
  • the similarity between the target point cloud data and the first point cloud data is greater than or equal to a preset similarity threshold, and the preset similarity threshold may be 80%, 85%, or 9% Ten, ninety-five percent or other values, etc., are not limited here.
  • FIG. 5 are two schematic diagrams of the second point cloud data in the method for calibrating the position of the robot provided by the embodiment of the present application.
  • Figure 5 includes two sub-schematic diagrams (a) and (b).
  • Figure 5 (a) sub-schematic diagram represents the point cloud data of the boundary line of the target object collected when the boundary line of the target object is located directly in front of the radar.
  • Figure 5 The sub-schematic diagram of (b) represents the point cloud data of the boundary line of the target object collected when the boundary line of the target object is located in the front left of the radar. It should be understood that the example in FIG. Program.
  • the electronic device performs a filtering operation and a fitting operation on the first point cloud data/third point cloud data obtained in step 202, if the fitting result of the first point cloud data/third point cloud data If it is a linear function and the fitting error of the linear function is less than the preset error threshold, it is determined that there is a boundary line of the target object in the surrounding environment within the target range of the robot.
  • the fitting error is used to reflect the degree of aggregation of the first point cloud data relative to the fitted linear function. The greater the degree of aggregation of the first point cloud data relative to the fitted linear function, the smaller the fitting error.
  • the value of the preset error threshold may be 0.5, 1.0 or other values, etc., which is not limited here.
  • the electronic device may calculate the first point cloud data/third point cloud data A distance value between each point in the plurality of points included in the data and the first linear function, and calculating the average of the distance values between all points included in the first point cloud data/third point cloud data and the first linear function value, or, calculate the maximum value among multiple distance values between the multiple points included in the first point cloud data/third point cloud data and the first linear function, or calculate the first point cloud data/third point The minimum value among the plurality of distance values between the plurality of points included in the cloud data and the first linear function, and the like.
  • two judgment methods are provided for determining whether there is a boundary line of the target object in the surrounding environment within the target range of the robot according to the first point cloud data, which improves the implementation flexibility of the solution.
  • the electronic device controls the robot to move toward the boundary line of the target object.
  • the electronic device controls the robot to move toward the boundary line of the target object according to the position information of the boundary line of the target object.
  • the position information of the boundary line of the target object may include the relative angle and relative distance between the boundary line of the target object and the current position of the robot, and the relative distance between the boundary line of the target object and the current position of the robot refers to the distance between the robot and the target.
  • the target direction is the direction perpendicular to the boundary line of the target object.
  • the electronic device can control the orientation of the robot to rotate to be perpendicular to the boundary line of the target object according to the relative angle between the boundary line of the target object and the current position of the robot, and according to the relative angle between the boundary line of the target object and the current position of the robot Relative distance, move along the aforementioned direction toward the boundary line of the target object.
  • the electronic device detects the distance between the robot and the boundary line of the target object in the process of moving the robot to the boundary line of the target object.
  • the electronic device detects the distance between the robot and the boundary line of the target object in real time during the movement of the robot to the boundary line of the target object. Specifically, when the robot moves to the boundary line of the target object, the electronic device can acquire the point cloud data corresponding to the boundary line of the target object through radar in real time, and generate the robot and the robot according to the point cloud data corresponding to the boundary line of the target object. The relative distance of the boundary line of the target object in the target direction.
  • the electronic device detects whether the robot is located in the edge area of the target object during the process of the robot moving to the boundary line of the target object.
  • the electronic device detects in real time whether the robot is located in the edge region of the target object during the process of the robot moving to the boundary line of the target object.
  • the target object may specifically be a bed, a floor, a blanket, grass, or other objects that the robot can work, etc., which will not be exhaustive here.
  • the edge area of the target object can also be called the dangerous area of the target object, the cliff area of the target object or other names, etc.
  • the probability of the robot falling from the edge area of the target object is greater than the probability of the robot falling from the non-edge area of the target object, that is When the robot moves in the edge area of the target object, it is more likely to fall off the target object.
  • the two concepts "probability of the robot falling from the edge area of the target object” and “probability of the robot falling from the non-edge area of the target object” are introduced here only to facilitate understanding of the edge area of the target object.
  • the robot does not need to distinguish the edge area and non-edge area of the target object by calculating the "probability of the robot falling from the target object".
  • the edge area of the target object is not a fixed area area, that is, the robot does not The edge area and non-edge area of the target object will be divided, and which areas in the specific target object are edge areas and which areas are non-edge areas are determined by the robot based on the detection results.
  • step 201 is an optional step.
  • step 206 may include: during the process of the robot moving to the boundary line of the target object, the electronic device obtains real-time acquisition of the robot and the lower part of the robot through radar The second distance between the detected objects is determined according to the target distance and the second distance to meet the first condition, determine that the robot is located in the edge area of the target object, the first condition indicates the difference between the second distance and the target distance The value is greater than or equal to the second threshold.
  • the value of the second threshold may be 20 centimeters, 30 centimeters, 35 centimeters, or other values, etc., which are not limited here.
  • the electronic device adds the target distance and the second threshold to obtain a third threshold, and the electronic device acquires the echo data corresponding to the detected object under the robot in real time through the radar, so as to generate the echo data corresponding to the detected object under the robot in real time.
  • the corresponding change curve of the wave data and then obtain the second distance between the robot and the probe under the robot in real time, and determine whether the second distance is greater than or equal to the third threshold, if the second distance is greater than or equal to the third threshold, then determine The robot is located at the edge area of the target object; if the second distance is less than the third threshold, it is determined that the robot is not located at the edge area of the target object, and the distance between the robot and the probe below the robot is continuously obtained.
  • FIG. 6 is another schematic diagram of a change curve of echo data corresponding to a probe under the robot in the method for calibrating the position of the robot provided by the embodiment of the present application.
  • Fig. 6 is taken as an example for the robot to remove mites on the bedding on the spring bed (that is, an example of a target object).
  • Fig. 6 needs to be understood in conjunction with the sub-schematic diagram of Fig. 3 (a).
  • the value of the target distance corresponding to the schematic diagram is 0.18 meters as an example, that is, the maximum distance between the robot and the spring mattress is 0.18 meters as an example, and B1 in Figure 6 (that is, the point with the highest echo data intensity)
  • B1 in Figure 6 that is, the point with the highest echo data intensity
  • the electronic device obtains the second distance between the robot and the detected object below the robot in real time through radar, calculates the difference between the second distance and the target distance, and judges the difference between the second distance and the target distance. Whether the difference is greater than or equal to the second threshold, if it is greater than or equal to the second threshold, it is determined that the robot is located in the edge area of the target object; if it is less than the second threshold, it is determined that the robot is not located in the edge area of the target object, and continue to obtain the robot and the target object. Distance between probes below the robot.
  • the electronic device obtains the distance between the robot and the detected object below the robot in real time through the radar, and the electromagnetic waves emitted by the radar can penetrate cotton items and silk fabrics, so that when the robot is not located at the edge of the target object In the area, the distance between the robot and the bed/spring mattress is detected by the radar.
  • the distance between the robot and the floor is detected by the radar, and the distance between the robot and the floor is The distance will be much greater than the distance between the robot and the bed board/spring mattress.
  • the target distance is the maximum value obtained from at least one distance between the robot and the bed board/spring mattress.
  • this solution can improve the accuracy of the robot edge judgment process, so as to avoid the robot falling from the target object; in addition, because the electromagnetic waves emitted by the radar can penetrate cotton Items, if the size of the quilt/cotton mattress and other cotton items and silk fabrics on the bed exceeds the size of the bed board, this solution can enable the robot to determine that the robot is in the edge area of the bed board when it is in the edge area, and then stop moving in time , Since cotton items are generally not enough to support the robot, that is, it is not enough to prevent the robot from slipping, when the robot is located at the edge of the bed, it can stop moving forward in time, and it can also prevent the robot from falling from the target object, thereby avoiding the user. Wasted time relocating the dropped robot to the target object also ensures the continuity of the robot movement process.
  • the electronic device may also be configured with a preset distance threshold, where the preset distance threshold is a fixed distance value, and the electronic device moves on the boundary line between the robot and the target object During the process, the second distance between the robot and the detected object under the robot is obtained in real time through the radar, and it is judged whether the second distance is greater than or equal to the preset distance threshold, if the second distance is greater than or equal to the preset distance threshold, Then it is determined that the robot is located in the edge area of the target object; if the second distance is less than the preset distance threshold, it is determined that the robot is not located in the edge area of the target object.
  • the preset distance threshold is a fixed distance value
  • the electronic device may execute steps 204 and 205 at the same time.
  • the electronic device may be configured with a special If the radar obtains the distance between the robot and the detected object below the robot, and the radar is specially used to detect the environment in front of the robot, the electronic device can perform steps 204 and 205 respectively through different radars;
  • the device may be equipped with a detection antenna specially used to obtain the distance between the robot and the probe under the robot, and a detection antenna specially used to detect the environment in front of the robot, then the electronic device can perform step 204 through different detection antennas respectively. and 205.
  • step 205 may further include: the electronic device collects environmental data around the robot in real time through infrared sensors or other types of sensors, and determines whether the robot is located in the edge area of the target object according to the environmental data around the robot etc., the specific implementation manners for the electronic device to detect whether the robot is located in the edge region of the target object is not exhaustively described here.
  • the electronic device determines whether the distance between the boundary line of the robot and the target object is less than the first threshold, and the robot is not located in the edge area of the target object; if the distance between the robot and the boundary line of the target object is less than the first threshold and the robot If the robot is not located in the edge area of the target object, go to step 208 ; if the distance between the robot and the boundary line of the target object is greater than the first threshold and the robot is located in the edge area of the target object, go to step 202 again.
  • the electronic device determines whether the distance between the robot and the boundary line of the target object is less than a first threshold, and the robot is not located in the edge area of the target object; if the distance between the robot and the boundary line of the target object is If it is less than the first threshold and the robot is not located in the edge area of the target object, then enter step 208; wherein, the value of the first threshold can be 5 cm, 10 cm, 12 cm, 15 cm or other values, etc., which is not limited here .
  • the electronic device determines that the boundary line of the target object is not the reference line, and the electronic device can drive the robot to rotate 180 degrees (that is, complete U-turn), and then control the robot to move to the initial position of the robot (that is, the placement position when the robot is placed on the target object), and then re-enter step 202 to detect the boundary line of the next target object from the surrounding environment of the robot, and then judge Whether the boundary line of the next target object is the reference line.
  • the robot If the distance between the robot and the boundary line of the target object is greater than the first threshold and the robot is not located in the edge area of the target object, continue to perform steps 204 and 205 until the distance between the robot and the boundary line of the target object is smaller than the first threshold , or, the robot is located within the edge region of the target object.
  • the electronic device determines the boundary line of the target object as the reference line.
  • the electronic device determines the boundary line of the target object as the reference line.
  • FIG. 7 is a schematic diagram of determining a reference line in the method for calibrating the position of a robot provided by an embodiment of the present application.
  • the reference line is determined after the electronic device performs steps 201 to 207 three times as an example.
  • the electronic device first detects the boundary of the bed end (that is, a boundary line of the target object) through the radar, and controls The robot moves to the boundary line at the end of the bed, but since the robot is located at the edge area of the bed when the distance between the robot and the boundary line at the end of the bed is less than the first threshold, the electronic device controls the robot to return to the initial point; the electronic device controls the robot to rotate to the right 120 degrees, the radar detects the boundary line on the left side of the bed (that is, a boundary line of the target object), and controls the robot to move to the boundary line on the left side of the bed.
  • the robot When the distance between them is less than the first threshold, the robot is located at the edge of the bed, and the electronic device controls the robot to return to the initial point again; the electronic device controls the robot to rotate 120 degrees to the right, and detects the boundary line of the bed head (that is, a target) through the radar.
  • the boundary line of the object controls the robot to move to the boundary line of the head of the bed, but when the distance between the robot and the boundary line of the head of the bed is less than the first threshold, the robot is not located in the edge area of the bed, so the boundary of the head of the bed is moved.
  • the line is determined as the reference line, and the robot is controlled to move along the reference line.
  • a solution for the robot to automatically determine the reference line is provided, so that no matter where the user places the robot on the target object, the robot can find the reference line, and during the cleaning process of the robot, the robot can find the reference line.
  • the boundary line of the target object will be determined as the reference line, that is, the reference line is not only an edge line of the target object, but also the reference line is not located in the target object. The edge area of the object, thus avoiding the robot falling off the target object in the process of finding the reference line.
  • the electronic device controls the robot to move along the reference line.
  • the robot moves to the edge area of the target object, the robot is controlled to suspend the movement, and the current position of the robot is used as the reference point.
  • the electronic device when the electronic device is located at the reference line, the electronic device can also control the robot to move along the reference line, and in the process of moving the robot along the reference line, detect in real time whether the robot moves to the edge area of the target object , when it is detected that the robot is located in the edge area of the target object, control the robot to pause the movement, rotate the robot 180 degrees in place, take the current position of the robot as the reference point, and also take the current orientation of the robot as the 0-degree orientation, and use the reference
  • the point is the starting point for the robot to execute the task.
  • the task may be removing mites, vacuuming, dehumidifying, ironing clothes, mowing, collecting bacterial samples, or other types of tasks, etc., which are not limited here.
  • the reference line is an edge line of the target object
  • the reference point is the edge area on the edge line, that is, the reference point is a vertex of the target object, and a vertex of the target object is used as the robot to perform the task
  • the starting point in the process makes it easier to plan the movement path of the robot, and can plan the execution task path without repetition, which makes the execution task path of the robot more organized, which is beneficial to improve the efficiency of the robot execution process and reduce the execution of the robot. task duration.
  • FIG. 8 is a schematic diagram of determining a reference line in the method for calibrating a position of a robot provided by an embodiment of the present application.
  • Fig. 8 includes five sub-schematic diagrams (a), (b), (c), (d) and (e).
  • the sub-schematic diagram of Fig. 8 (a) takes the reference line located directly in front of the robot as an example, (a) of Fig.
  • the sub-schematic diagram represents the reference line fitted by the point cloud data of the environment within the target range of the robot collected by the electronic device through the radar;
  • Figure 8 (b) sub-schematic diagram represents the electronic device controls the robot along the direction perpendicular to the reference line ( That is, the target direction) moves to the reference line;
  • the sub-schematic diagram of Fig. 8 (c) represents that the electronic equipment controls the robot to move along the reference line, and detects in real time whether the robot moves to the edge area of the target object (that is, the bed in Fig. 8 );
  • FIG. 8 (d) represents that the electronic device detects that the robot is located in the edge area of the target object, and controls the robot to suspend the movement in this direction;
  • the sub-schematic diagram of Fig. 8 (e) represents that the electronic device controls the robot to rotate 180 degrees, and rotates the robot by 180 degrees.
  • the current position of the robot is used as the reference point, and the reference point is used as the starting point for the robot to remove mites from the bed.
  • step 209 is an optional step. If the user places the robot on a vertex of the target object every time the robot is placed on the target object, the electronic device can directly determine the current position of the robot as the robot's current position. The starting point when executing the task, that is, without performing step 209, the robot can use a vertex of the target object as the starting point for executing the task.
  • steps 202 to 208 are optional steps, and the electronic device may be pre-configured with a reference line confirmation rule, the reference line confirmation rule instructs the electronic device to use the first line detected as the reference line, when the electronic device detects After reaching the baseline, control the robot to move to the baseline. It can be shown in the robot's operating instructions that the user needs to place the robot in the direction of the reference line when using the robot, and the reference line is the edge line of the target object with obstructions.
  • the intersection of the head of the bed and the bed forms a reference line; for another example, the side of the bed is against the wall, and the side of the bed and the wall intersect to form a reference line, etc. Don't be exhausted.
  • the user can directly place the robot on the reference line each time, so that the electronic device does not need to perform steps 202 to 208 to obtain the reference line, that is, the electronic device does not need to perform steps 202 to 208, and can directly move along the reference line .
  • the electronic device After the electronic device obtains the starting point of the robot performing the task, it takes the starting point of the task execution as the origin of the coordinates and the reference line as the x-axis in the coordinate system, so as to determine the movement path of the robot during the execution of the task, and determine the movement path of the robot during the execution of the task.
  • the position during the execution of the task is modeled to complete the initialization of the robot positioning process.
  • the electronic device may pre-store a planning rule for the movement path during the execution of the task. After the electronic device obtains the baseline, the electronic device may determine the movement path of the robot during the execution of the task according to the planning rule.
  • the movement path of the robot during the execution of the task is a bow-shaped movement path
  • the bow-shaped movement path includes a second movement direction and a third movement direction.
  • the second movement direction is parallel to the reference line
  • the third movement direction is perpendicular to the reference line.
  • a vertex of the target object is used as the starting point, the robot is controlled to move according to a bow-shaped path in the process of performing the task, and the position of the robot and the heading of the robot are timely updated during the process of the robot performing the task.
  • the angle is corrected, which not only realizes that the moving path of the robot can fully cover the target object, but also avoids the repetition of the moving path of the robot.
  • the electronic device can use the three dimensions of x, y and ⁇ to describe the position of the robot relative to the reference line.
  • the following model can be established for the position of the robot using the prior information (that is, the baseline in each of the above steps):
  • x cliff represents the value of the robot's current position in the x-axis direction.
  • the value of x cliff will be reset to 0, and n x represents when the robot moves along the x-axis direction.
  • n x When the robot reaches the edge area of the target object, the value of n x will be reset to 0, res represents the mapping relationship between the encoder scale and the moving distance of the robot, ⁇ represents the robot relative to The actual heading angle of the reference line, ⁇ x represents the cumulative distance error of the robot in the x-axis direction during the movement process, y abs represents the distance between the robot and the reference line in the y-axis direction, and the y-axis direction is also perpendicular to the reference line. direction, n y represents the encoder incremental increment when the robot moves along the y-axis.
  • n y When the robot reaches the edge area of the target object, the value of n y will be reset to 0, and d width represents the robot moves on the y-axis every time The expected moving distance when the robot moves in the direction of the y-axis.
  • i y increases by 1.
  • ⁇ y represents the cumulative distance error of the robot in the y-axis direction during the movement process.
  • ⁇ abs represents the initial heading angle of the robot relative to the reference line
  • the initial heading angle of the robot when starting from the reference point is 0 degrees
  • ⁇ ⁇ 2 represents the heading angle offset of the robot due to slippage during the execution of the task
  • ⁇ ⁇ 2 can be measured by the robot's inertial measurement unit (IMU), and It can be calibrated by the robot itself.
  • IMU inertial measurement unit
  • ⁇ ⁇ 1 represents the accumulated heading angle error of the robot during the execution of the task, which needs to be calibrated with the help of the reference line.
  • ⁇ ⁇ 1 is not the heading angle deviation caused by slip, but the heading angle deviation caused by the insufficient precision of the components configured in the robot, that is, even if the robot is placed on a rough surface, even if the robot does not occur Slippage will also produce a heading angle deviation of ⁇ ⁇ 1 .
  • Both ⁇ x and ⁇ y include distance errors due to slippage and distance errors due to insufficient precision of components configured in the robot.
  • the electronic device can define three types of movement modes for the robot in advance.
  • the first one is the movement along the x-axis direction, and the movement speed of the robot is fixed. speed
  • the expected heading angle is designed to be the heading after reverse correction according to ⁇ ⁇ 2 , in order to make the actual trajectory of the robot be a straight line; the second is to move along the y-axis direction, The expected heading angle is designed to be the heading after reverse correction according to ⁇ ⁇ 2 ; the third is the in-situ rotation movement, and the rotation angle is 90 degrees.
  • the electronic device takes the reference point as the starting point, and controls the robot to move along the reference line during the process of the robot performing the task, and detects whether the robot is in real time through the radar during the process of the robot performing the task.
  • the electronic device determines that the robot is located at the edge area of the target object, it controls the robot to suspend the movement (that is, controls the robot to no longer move in the original direction), and controls the robot to rotate 90 degrees away from the reference line ( That is, changing the moving direction), that is, the rotated robot is perpendicular to the reference line.
  • the robot After the robot is controlled to rotate, it is detected by radar whether the robot is located in the edge area of the target object. If the rotated robot is no longer located in the edge area of the target object, the rotated robot is controlled to move along the vertical reference line for a preset length, and Control the robot again to rotate 90 degrees away from the reference line to continue moving in a direction parallel to the reference line; the electronic device controls the robot to repeat the above steps until the rotated robot is still located at the edge of the target object, then the task is determined to be executed complete.
  • the value of the preset length needs to be less than or equal to the diameter of the robot. As an example, for example, the value of the preset length may be 15 cm, 20 cm, 25 cm, etc., which is not limited here.
  • the robot during the process of the robot performing the task, it can detect in real time whether the robot is located in the edge area of the target object, and when it is determined that the robot is located in the edge area of the target object, the robot can be controlled to change the moving direction in time, so as to avoid the robot Falling from the target object when performing the task can improve the coherence of the robot in the process of performing the task, that is, to prevent the user from wasting energy in the process of the robot performing the task, so as to improve the user viscosity of this solution.
  • FIG. 9 is a schematic diagram of a detection point of a radar in the method for calibrating the position of a robot provided by an embodiment of the present application.
  • the moving path of the robot during the task execution is taken as an example of a bow shape.
  • C1 represents the position of the radar/detection antenna configuration point (ie the detection point) when the robot moves along the reference line at the bedside position
  • C2 represents When the robot is rotated on the bedside position, the position of the radar/detection antenna configuration point (ie the detection point) is compared with C1 and C2. It can be seen that the distance between C1 and the edge area of the target object is closer.
  • C3 represents the position of the radar/detection antenna configuration point (that is, the detection point) when the robot moves in a direction parallel to the reference line at the end of the bed
  • C4 represents the configuration of the radar/detection antenna on the robot after the robot rotates at the end of the bed
  • the electronic device acquires a first actual distance between the robot and the reference line in the target direction and a first heading angle of the robot relative to the reference line.
  • the electronic device can control the robot to perform tasks, and use the reference line to correct the position of the robot and the heading angle of the robot during the process of the robot performing tasks. , that is, the robot will correct the position of the robot and the heading angle of the robot through step 210 and subsequent steps 211 during the execution of the task.
  • Step 210 may include: the electronic device obtains the robot and the reference line in the target direction every preset time period.
  • the first actual distance and the first heading angle of the robot relative to the reference line, wherein the preset duration can be 10 seconds, 20 seconds, 30 seconds, 1 minute, 5 minutes or other data, etc., which is not limited here.
  • the electronic device may perform a correction operation when the value of x corresponding to the robot takes a preset value
  • the preset value may be half of the maximum value of x
  • the preset value It may also include 3 values, which are one-quarter, one-half, and three-quarters of the maximum value of the x value, etc., which are not exhaustive here.
  • the embodiments of the present application provide The two trigger conditions for the correction of the robot's position and heading angle are only for the convenience of understanding this solution. In actual products, other trigger conditions may be used, which will not be exhaustive here.
  • the electronic device since the electronic device controls the robot to move according to a predetermined path, in the process of the robot performing the task, although the robot may have a heading angle deviation during the movement, the electronic device can know the distance between the reference line and the robot.
  • the relative orientation of the robot that is, the electronic device can know that the reference line is located in the target direction range of the robot.
  • the planned path for the robot to perform the task is a bow shape, when the robot reaches the edge area of the target object for the first time and rotates 90 degrees, the reference line is located behind the moving direction of the robot.
  • the movement path of the robot determines the relative orientation between the reference line and the robot, and it should be understood that the examples here are only to prove the feasibility of this solution, and are not used to limit this solution.
  • the electronic device may directly obtain the expected heading angle of the robot relative to the reference line from the formula (1) shown in step 208, and then determine the orientation information of the reference line relative to the robot.
  • the electronic device collects the third point cloud data within the third target range of the robot through the radar/detection antenna corresponding to the target direction range on the robot, and the third target range is the detection range of the radar/detection antenna corresponding to the target direction range on the robot,
  • the electronic device performs filtering and fitting operations according to the collected third point cloud data to obtain the position information of the reference line relative to the robot, that is, to obtain the first actual distance between the robot and the reference line in the target direction and the robot relative to the robot.
  • the first heading angle of the reference line, and the target direction is the direction perpendicular to the reference line.
  • FIG. 10 is a schematic diagram of the first actual distance and the first heading angle in the position correction method of the robot provided by the embodiment of the present application.
  • D1 represents the baseline
  • the direction of the arrow in D1 represents the positive direction of the x-axis
  • D2 represents the first actual distance between the robot and the baseline
  • D3 represents the current moving direction of the robot
  • D4 represents the first heading of the robot relative to the baseline
  • the electronic device controls the robot to move according to the expected distance between the robot and the reference line in the target direction, the first actual distance and the first heading angle, so that the second actual distance between the moved robot and the reference line in the target direction is expected distance.
  • the electronic device since the robot moves at a preset speed during the execution of the task, the electronic device obtains the expected distance between the robot and the reference line in the target direction according to the planned path of the robot and the preset speed of the robot.
  • the expected distance corresponds to the current position of the robot.
  • the electronic device can directly obtain the expected distance between the machine and the reference line in the target direction from the formula (1) shown in step 208 .
  • the electronic device controls the robot to move according to the expected distance between the robot and the reference line in the target direction, the first actual distance and the first heading angle, so as to correct the distance of the robot in the target direction, so that the moved robot and the reference line are in the same direction.
  • the second actual distance in the target direction is the expected distance.
  • Step 211 may include: the electronic device calculates the first error distance of the robot in the target direction according to the expected distance and the first actual distance, and controls the robot to rotate according to the first heading angle, so as to make the rotated robot move in the first direction It is perpendicular to the reference line; the first moving direction can be a moving direction approaching the reference line, or a direction away from the reference line.
  • the electronic device controls the robot to move the first error distance along the first moving direction, that is, controls the robot to move the first error distance along the first moving direction, so that the moved robot and the reference line are in the target direction.
  • the second actual distance is the expected distance.
  • the electronic device controls the robot to rotate according to the planned path of the robot, so as to rotate the actual heading angle of the robot relative to the reference line to the expected heading angle.
  • controlling the robot to move the first error distance along the first moving direction here means that the electronic device wants to control the robot to move the first error distance along the first moving direction, but in actual situations, the robot may move along the first error distance along the first moving direction.
  • a third actual distance is moved in a moving direction, and a large difference between the third actual distance and the first error distance is small.
  • FIG. 11 is a schematic diagram of the expected distance, the first actual distance, and the first heading angle in the method for correcting the position of the robot provided by the embodiment of the present application.
  • Figure 11 can be understood in conjunction with Figure 10.
  • D1 represents the reference line
  • the direction of the arrow in D1 represents the positive direction of the x-axis
  • D2 represents the first actual distance between the robot and the reference line
  • E1 represents the distance between the robot and the reference line.
  • the expected distance, E2 represents the difference between the expected distance and the first actual distance, that is, the first error distance
  • D3 represents the current moving direction of the robot
  • D4 represents the first heading angle of the robot relative to the reference line
  • E3 represents the robot relative to the reference line.
  • E4 represents the first moving direction, that is, the electronic device controls the robot to move the distance pointed by E2 along the direction pointed by E4, so that the moved robot is the second actual distance from the reference line in the target direction.
  • the example in FIG. 11 is only for the convenience of understanding the present solution, and is not intended to limit the present solution.
  • a specific implementation scheme for correcting the distance of the robot in the target direction by using the expected distance, the first actual distance and the first heading angle of the reference line in the target direction will first control the robot to rotate according to the first heading angle of the robot relative to the reference line, so that the first moving direction of the rotated robot is perpendicular to the reference line, and then correct the distance of the robot in the target direction, and then control
  • the robot moves it is necessary to rotate the robot to the expected heading angle of the robot, that is, while correcting the distance of the robot in the target direction, the heading angle of the robot is also corrected to ensure the planability of the moving path of the robot, thereby ensuring The movement path of the robot can fully cover the entire target object.
  • the radar since the electromagnetic waves emitted by the radar can penetrate cotton objects or silk objects, and the radar can measure the actual distance and the first heading angle between the robot and the reference line by emitting electromagnetic waves, and according to the robot and the reference line
  • the expected distance, actual distance and first heading angle between the reference lines, control the movement of the robot, so that the actual distance between the moved robot and the reference line is the expected distance, that is, the reference line is used to use relative positioning technology to achieve alignment.
  • the correction of the robot position provides a solution for the automatic position correction of the robot during the movement process; in addition, this solution can not only be applied to the scene when the robot works on the surface of cotton objects or silk objects, but also can be applied to the robot In scenes covered by cotton objects or silk objects, since the robot does not rely on the acquisition of the surrounding environment for positioning, the impact of the working environment on the robot's movement process is greatly reduced, thereby greatly expanding the robot's application scenarios.
  • FIG. 12 is a schematic structural diagram of a position correction apparatus provided by an embodiment of the present application.
  • the position correction device 1200 includes: an acquisition module 1201 for acquiring the first actual distance between the robot and the reference line in the target direction and the first heading angle of the robot relative to the reference line, where the reference line is a boundary line of the target object, and the target direction is the vertical direction of the reference line, the first heading angle is the angle between the moving direction of the robot and the reference line, and the target object is the object related to the robot performing the task; the control module 1202 is used for the target direction according to the robot and the reference line.
  • the expected distance, the first actual distance and the first heading angle are controlled to move the robot, so that the second actual distance between the moved robot and the reference line in the target direction is the expected distance.
  • the position correction device 1200 may specifically be represented as a processor configured in the robot, or may be represented as the entire robot.
  • the control module 1202 includes a calculation sub-module 12021 and a control sub-module 12022; wherein the calculation sub-module 12021 is used to calculate the first error distance of the robot in the target direction according to the expected distance and the first actual distance, and according to the first heading angle , control the robot to rotate, so that the first moving direction of the rotated robot is perpendicular to the reference line; the control sub-module 12022 is used to control the robot to move along the first moving direction according to the first error distance, so that the moved robot and the The second actual distance of the reference line in the target direction is the expected distance.
  • the apparatus 1200 further includes: a collection module 1203 for collecting the first point cloud data of the environment within the target range of the robot through the radar, and the environment within the target range includes the current detection range of the radar
  • the control module 1202 is further configured to control the robot to move to the boundary line of the target object under the circumstance that there is a boundary line of the target object in the surrounding environment within the target range of the robot according to the first point cloud data, And in the process of moving the robot to the boundary line of the target object, it is detected whether the robot is located in the edge area of the target object, and the probability of the robot falling from the edge area of the target object is greater than the probability of the robot falling from the non-edge area of the target object; determining module 1204, When the distance between the robot and the boundary line of the target object is less than the first threshold, and the robot is not located in the edge area of the target object, the boundary line of the target object is determined as the reference line.
  • the determining module 1204 is specifically configured to acquire at least one pre-stored second point cloud data, and acquire the difference between the first point cloud data and each second point cloud data in the at least one second point cloud data If the target point cloud data exists in at least one second point cloud data, it is determined that there is a boundary line of the target object in the surrounding environment within the target range of the robot, and the difference between the target point cloud data and the first point cloud data is determined.
  • the similarity is greater than or equal to the preset similarity threshold; or, the determining module 1204 is specifically configured to perform a fitting operation on the first point cloud data, if the fitting result of the first point cloud data is a linear function and the fitting error of the linear function is If it is less than the preset error threshold, it is determined that there is a boundary line of the target object in the surrounding environment within the target range of the robot.
  • control module 1202 is also used to control the robot to move along the reference line, and when the robot moves to the edge area of the target object, control the robot to suspend the movement;
  • determination module 1204 is also used to determine the current position of the robot As the reference point, the reference point is the starting point when the robot performs the task;
  • acquisition module 1201 is specifically used to obtain the first actual distance between the robot and the reference line in the target direction and the robot relative to the reference line during the process of the robot performing the task the first heading angle.
  • the movement path of the robot during the execution of the task is a bow shape
  • the bow shape movement path includes a second movement direction and a third movement direction
  • the second movement direction is parallel to the reference line
  • the third movement direction perpendicular to the baseline.
  • the acquisition module 1201 is further configured to acquire at least one first distance between the robot and a probe under the robot through radar, and select the largest distance from the at least one first distance as the target distance;
  • the control module 1202 is specifically used to obtain the second distance between the robot and the detected object below the robot through the radar during the movement of the robot to the boundary line of the target object, and determine the first distance according to the target distance and the second distance. In the case of the condition, it is determined that the robot is located in the edge area of the target object, and the first condition indicates that the difference between the second distance and the target distance is greater than or equal to the second threshold.
  • the acquiring module 1201 is further used to acquire the third distance between the robot and the probe under the robot through the radar during the process of the robot performing the task; the determining module 1204 is also used for determining the distance according to the target When the distance and the third distance are determined to satisfy the first condition, it is determined that the robot is located in the edge area of the target object, and the robot is controlled to change the moving direction.
  • FIG. 14 is a schematic structural diagram of an edge area detection apparatus provided by an embodiment of the present application.
  • the edge area detection device 1400 includes: an acquisition module 1401, configured to acquire at least one first distance, and select the largest distance from the at least one first distance as the target distance, where the first distance is the distance between the robot and the robot before the robot moves.
  • the acquisition module 1401 is also used to acquire the second distance, the second distance is the distance between the robot and the detected objects under the robot during the movement of the robot;
  • the determination module 1402 is used to determine the distance according to the target distance and the second distance is determined to satisfy the first condition, determine that the robot is located in the edge area of the target object, wherein the probability of the robot falling from the edge area of the target object is greater than the probability of the robot falling from the non-edge area of the target object, the first condition Indicates that the difference between the second distance and the target distance is greater than the first threshold, and the target object is an object related to the task performed by the robot.
  • the detection device 1400 of the edge area may specifically be expressed as a processor configured in the robot, or may be expressed as the entire robot.
  • FIG. 15 is a schematic structural diagram of an apparatus for detecting an edge region of a robot according to an embodiment of the present application.
  • the detection device 1400 of the edge area further includes: a collection module 1403 for collecting the first point cloud data of the environment within the target range of the robot through the radar, and the environment within the target range includes the environment in front of the robot in the current detection range of the radar; the control module 1404, for controlling the robot to move to the boundary line of the target object under the circumstance that the boundary line of the target object exists in the surrounding environment within the target range of the robot according to the first point cloud data, and the process of the robot moving to the boundary line of the target object Attributable to the movement process of the robot; the determination module 1402 is also used to determine the boundary line of the target object when the distance between the robot and the boundary line of the target object is less than the first threshold, and the robot is not located in the edge area of the target object. Determined as the baseline, the baseline is used to assist the robot in positioning during the robot'
  • FIG. 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device 1600 may be deployed with the corresponding implementation of FIG. 12 or FIG. 13 .
  • the position correction apparatus 1200 described in the example, or the electronic device 1600 may be deployed with the edge area detection apparatus 1400 described in the corresponding embodiment of FIG. 14 or FIG. 15 .
  • the electronic device 1600 includes: a receiver 1601, a transmitter 1602, a processor 1603 and a memory 1604 (wherein the number of processors 1603 in the electronic device 1600 can be one or more, and one processor is taken as an example in FIG. 16 ) , wherein the processor 1603 may include an application processor 16031 and a communication processor 16032.
  • the receiver 1601, the transmitter 1602, the processor 1603, and the memory 1604 may be connected by a bus or otherwise.
  • Memory 1604 may include read-only memory and random access memory, and provides instructions and data to processor 1603 .
  • a portion of memory 1604 may also include non-volatile random access memory (NVRAM).
  • NVRAM non-volatile random access memory
  • the memory 1604 stores processors and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations.
  • the processor 1603 controls the operation of the electronic device.
  • various components of an electronic device are coupled together through a bus system, where the bus system may include a power bus, a control bus, a status signal bus, and the like in addition to a data bus.
  • the various buses are referred to as bus systems in the figures.
  • the methods disclosed in the above embodiments of the present application may be applied to the processor 1603 or implemented by the processor 1603 .
  • the processor 1603 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor 1603 or an instruction in the form of software.
  • the above-mentioned processor 1603 may be a general-purpose processor, a digital signal processor (DSP), a microprocessor or a microcontroller, and may further include an application specific integrated circuit (ASIC), a field programmable Field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable Field-programmable gate array
  • the processor 1603 may implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of this application.
  • 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 conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art.
  • the storage medium is located in the memory 1604, and the processor 1603 reads the information in the memory 1604, and completes the steps of the above method in combination with its hardware.
  • the receiver 1601 can be used to receive input digital or character information, and generate signal input related to related settings and function control of the electronic device.
  • the transmitter 1602 can be used to output digital or character information through the first interface; the transmitter 1602 can also be used to send instructions to the disk group through the first interface to modify the data in the disk group; the transmitter 1602 can also include a display device such as a display screen .
  • the application processor 16031 is configured to execute the function of the position correction apparatus 1200 in the embodiment corresponding to FIG. 12 or FIG. 13 . Specifically, the application processor 16031 is configured to perform the following steps:
  • the reference line is a boundary line of the target object
  • the target direction is the vertical direction of the reference line
  • the first heading angle is The angle between the moving direction of the robot and the reference line
  • the target object is the object related to the robot performing the task; according to the expected distance between the robot and the reference line in the target direction, the first actual distance and the first heading angle, the robot is controlled to move, Take the second actual distance between the moved robot and the reference line in the target direction as the expected distance.
  • the application processor 16031 is configured to execute the function of the edge region detection apparatus 1400 in the embodiment corresponding to FIG. 14 or FIG. 15 . Specifically, the application processor 16031 is configured to perform the following steps:
  • the first distance is the distance between the robot and the probe under the robot before the robot moves;
  • the distance is the distance between the robot and the probe under the robot during the movement of the robot; if the first condition is satisfied according to the target distance and the second distance, it is determined that the robot is located in the edge area of the target object, and the first condition indicates the first condition.
  • the difference between the second distance and the target distance is greater than the first threshold, and the target object is an object related to the task performed by the robot.
  • Embodiments of the present application further provide a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and when the computer-readable storage medium runs on a computer, the computer executes the electronic devices in the corresponding embodiments of FIG. 2 to FIG. 11 above. steps performed.
  • Embodiments of the present application also provide a computer program product, which, when running on a computer, causes the computer to perform the steps performed by the electronic device in the embodiments corresponding to FIG. 2 to FIG. 11 .
  • An embodiment of the present application further provides a circuit system, where the circuit system includes a processing circuit, and the processing circuit is configured to perform the steps performed by the electronic device in the embodiments corresponding to FIG. 2 to FIG. 11 .
  • the electronic device or training device provided in the embodiment of the present application may be a chip, and the chip includes: a processing unit and a communication unit, the processing unit may be, for example, a processor, and the communication unit may be, for example, an input/output interface, a pin or a communication unit. circuit, etc.
  • the processing unit can execute the computer-executed instructions stored in the storage unit, so that the chip executes the steps executed by the electronic device in the embodiments corresponding to FIG. 2 to FIG. 11 .
  • the storage unit is a storage unit in the chip, such as a register, a cache, etc.
  • the storage unit may also be a storage unit located outside the chip in the wireless access device, such as only Read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), etc.
  • ROM Read-only memory
  • RAM random access memory
  • the processor mentioned in any one of the above may be a general-purpose central processing unit, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the method in the first aspect.
  • the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be A physical unit, which can be located in one place or distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.
  • U disk mobile hard disk
  • ROM read-only memory
  • RAM magnetic disk or optical disk
  • a computer device which may be a personal computer, server, or network device, etc.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server, or data center is by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.).
  • wire eg, coaxial cable, fiber optic, digital subscriber line (DSL)
  • wireless eg, infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer, or a data storage device such as a server, data center, etc., which includes one or more available media integrated.
  • the usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)

Abstract

一种机器人的位置校正方法以及相关设备，方法包括：获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角（S210），基准线为目标物体的一个边界线，目标方向为基准线的垂直方向，第一航向角为机器人的移动方向与基准线之间的夹角，目标物体为机器人执行任务相关的物体；根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离(S211)。利用基准线采用相对定位技术来实现对机器人位置的校正，提供了一种机器人在移动过程中自动位置校正的方案。

Description

一种机器人的位置校正方法以及相关设备
本申请要求于2020年12月31日提交中国专利局、申请号为202011632337.6、发明名称为“一种机器人的位置校正方法以及相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及人工智能领域，尤其涉及一种机器人的位置校正方法以及相关设备。
背景技术
随着生活水平的提高，人们越来越关注家居环境的洁净。被褥、床垫等床上用品作为人们平均贴身接触最多的家居用品，很容易受到灰尘、螨虫或细菌的侵扰，容易对人体健康产生隐患。为解决床上用品的杀菌消毒问题，手持式的床上清扫仪器得到发展。床上清扫仪器上安装有杀菌消毒装置，但由于需要用户手动操控床上清扫仪器对床上每个角落进行较长时间的按压操作。用户需要长时间的手动操控床上清扫仪器工作，且由于床上清扫仪器较为笨重，导致用户工作强度较大，进而导致手持式床上清扫仪器的实用性不高。
因此，智能化的清洁机器人被推出，机器人采用绝对定位技术，具体的，机器人中存储有整个清洁区域的环境，并实时采集机器人的周围环境，以根据机器人当前周围的环境和整个清洁区域的环境，确定机器人在清洁区域中的绝对位置。
但当清洁机器人工作于柔软的棉质家居用品表面时，机器人的重力容易导致机器人陷入家居用品中，从而导致机器人无法采集到周围环境，也即无法实现对机器人的定位，从而无法对机器人的位置进行校正。
发明内容
本申请实施例提供了一种机器人的位置校正方法以及相关设备，利用基准线采用相对定位技术来实现对机器人位置的校正，提供了一种机器人在移动过程中自动位置校正的方案。
为解决上述技术问题，本申请实施例提供以下技术方案：
第一方面，本申请实施例提供一种机器人的位置校正方法，可用于人工智能领域的智能机器人领域中。方法包括：电子设备通过雷达/雷达的探测天线获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角，基准线为目标物体的一个边界线，目标方向为基准线的垂直方向，第一航向角为机器人的移动方向与基准线之间的夹角；目标物体为机器人执行任务相关的物体，目标物体具体可以为床、地板、毯子、草地或其他机器人能够工作的物体等。电子设备根据机器人的规划路径和机器人的预设速度，获取机器人与基准线在目标方向上的预期距离，并根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。
本实现方式中，由于雷达发出的电磁波能够穿透棉质物体或丝质物体，且雷达能够通 过发出电磁波的方式测量机器人与基准线之间的实际距离和第一航向角，并根据机器人与基准线之间的预期距离、实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线之间的实际距离为预期距离，也即利用基准线采用相对定位技术来实现对机器人位置的校正，提供了一种机器人在移动过程中自动位置校正的方案；此外，本方案不仅可以应用于当机器人工作于棉质物体或丝质物体表面的场景中，而且还可以应用于机器人被棉质物体或丝质物体等覆盖的场景中，由于机器人并不是依赖采集周围环境进行定位，大大降低了工作环境对机器人移动过程的影响，进而大大扩展了机器人的应用场景。
在第一方面的一种可能实现方式中，电子设备根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离，包括：电子设备根据预期距离和第一实际距离，计算机器人在目标方向上的第一误差距离，并根据第一航向角，控制机器人旋转，以使旋转后的机器人的第一移动方向与基准线垂直；第一移动方向可以为向基准线靠近的移动方向，也可以为远离基准线的方向。电子设备根据第一误差距离，控制机器人沿第一移动方向移动，也即控制机器人沿第一移动方向移动第一误差距离，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。在控制机器人沿第一移动方向移动第一误差距离之后，电子设备根据机器人的规划路径，控制机器人旋转，以将机器人相对于基准线的实际航向角旋转至预期航向角。需要说明的是，此处“控制机器人沿第一移动方向移动第一误差距离”的含义是指电子设备想要控制机器人沿第一移动方向移动第一误差距离，但实际情况中机器人可能沿第一移动方向移动第三实际距离，第三实际距离与第一误差距离大差值较小。
本实现方式中，提供了利用基准线在所述目标方向上的预期距离、第一实际距离和第一航向角，对机器人在目标方向上的距离进行校正的具体实现方案，由于校正过程中，会先根据机器人相对于基准线的第一航向角，控制机器人旋转，以使旋转后的机器人的第一移动方向与基准线垂直，进而在校正了机器人在目标方向上的距离之后，再控制机器人运动时，需要将机器人旋转至机器人的预期航向角上，也即在校正机器人在目标方向上的距离的同时，还校正了机器人的航向角，保证了机器人移动路径的可规划性，从而保证机器人的移动路径能够全面覆盖整个目标物体。
在第一方面的一种可能实现方式中，电子设备通过雷达获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角之前，方法还包括：电子设备通过雷达采集机器人的目标范围内环境的第一点云数据，目标范围内环境包括雷达的当前探测范围中位于机器人前方的环境；进一步地，以机器人的当前朝向为中心线，目标范围内环境可以包括中心线左右第一角度范围内的机器人前方的环境，也即第一雷达的当前探测范围为中心线左右第一角度范围内，该第一角度范围可以为30度、50度、60度、80度或其他数值等等。点云数据是指在同一空间参考系下表达物体的空间分布和物体的表面特性的点的集合，在获取目标范围内环境中物体表面每个采样点的空间坐标后，得到的是点的集合。在根据第一点云数据确定机器人的目标范围内周围环境中存在目标物体的边界线的情况下，电子设备控制机器人向目标物体的边界线移动，并在机器人向目标物体的边界线 移动的过程中检测机器人是否位于目标物体的边缘区域，其中，目标物体的边缘区域也可以称为目标物体的危险区域、目标物体的悬崖区域，机器人从目标物体的边缘区域跌落的概率大于机器人从目标物体的非边缘区域跌落的概率，需要说明的是，此处引出“机器人从目标物体的边缘区域跌落的概率”和“机器人从目标物体的非边缘区域跌落的概率”两个概念仅为方便理解目标物体的边缘区域，在实际情况中，机器人不需要通过计算“机器人从目标物体上跌落的概率”的方式来区分目标物体的边缘区域和非边缘区域，此外，目标物体的边缘区域并非是一个固定面积的区域，具体目标物体中哪些区域为边缘区域，哪些区域为非边缘区域由机器人基于探测结果决定，也即机器人不会对目标物体的边缘区域和非边缘区域进行划分，具体目标物体中哪些区域为边缘区域，哪些区域为非边缘区域由机器人基于探测结果决定；在机器人与目标物体的边界线之间的距离小于第一阈值，且机器人未位于目标物体的边缘区域的情况下，将目标物体的边界线确定为基准线。
本实现方式中，提供了机器人自动确定基准线的一种方案，从而无论用户将机器人放置于目标物体上的任意位置处，机器人均能够查找到基准线，并在机器人进行清洁的过程中，利用该基准线对机器人的位置进行校正；此外，并不是将检测到的任意一条线条(也即目标物体的任意一条边缘线)作为基准线，而是只有在机器人与目标物体的边界线之间的距离小于第一阈值，且机器人未位于边缘区域的情况下，才会将该目标物体的边界线确定为基准线，也即基准线不仅为目标物体的一个边缘线，且基准线不位于目标物体的边缘区域，从而避免了机器人在寻找基准线过程中从目标物体上跌落。
在第一方面的一种可能实现方式中，电子设备根据第一点云数据确定机器人的目标范围内周围环境中存在目标物体的边界线，包括：电子设备获取预先存储的至少一个第二点云数据，并获取第一点云数据与至少一个第二点云数据中每个第二点云数据之间的相似度，每个第二点云数据均代表雷达采集到的物体的边界线的点云数据，与不同的第二点云数据对应的边界线与雷达之间的相对角度不同。若至少一个第二点云数据中存在目标点云数据，则确定机器人的目标范围内周围环境中存在目标物体的边界线，目标点云数据与第一点云数据之间的相似度大于或等于预设相似度阈值。或者，电子设备对第一点云数据执行拟合操作，若第一点云数据的拟合结果为线性函数且线性函数的拟合误差小于预设误差阈值，则确定机器人的目标范围内周围环境中存在目标物体的边界线。其中，拟合误差用于反映第一点云数据相对于拟合出的线性函数的聚合度，第一点云数据相对于拟合出的线性函数的聚合度越大，拟合误差越小，拟合程度越好；第一点云数据相对于拟合出的线性函数的聚合度越小，拟合误差越大，拟合程度越差。
本实现方式中，提供了根据第一点云数据确定机器人的目标范围内周围环境中是否存在目标物体的边界线的两种判断方式，提高了本方案的实现灵活性。
在第一方面的一种可能实现方式中，电子设备获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角之前，方法还包括：电子设备控制机器人沿基准线移动，当机器人移动至目标物体的边缘区域，控制机器人暂停移动，将机器人原地旋转180度，将机器人的当前位置作为基准点，还可以将机器人的当前朝向作为0度朝向，将该基准点为机器人执行任务的起始点。其中，该任务可以为除螨、吸尘、除湿、熨 烫衣物、割草、采集细菌样本或其他类型的任务等等。电子设备获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角，包括：电子设备在机器人执行任务的过程中，获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角。
本实现方式中，由于基准线为目标物体的一个边缘线，基准点为该边缘线上的边缘区域，也即该基准点为目标物体的一个顶点，以目标物体的一个顶点作为机器人执行任务过程中的起始点，从而更容易规划机器人的移动路径，且能够规划处无重复的执行任务路径，使得机器人的执行任务路径更为条理化，有利于提高机器人执行任务过程的效率，降低机器人执行任务时长。
在第一方面的一种可能实现方式中，机器人执行任务过程中的移动路径为弓字形，弓字形的移动路径中包括第二移动方向和第三移动方向，第二移动方向与基准线平行，第三移动方向与基准线垂直。需要说明的是，电子设备希望机器人在执行任务过程中的移动路径为弓字形，但由于机器人在移动过程中会与预期路径之间存在误差，而且在移动过程中，电子设备会对机器人的位置进行校正，所以机器人的实际移动路径会与弓字形类似，而可能不会完全一致。
本实现方式中，以目标物体的一个顶点为起始点，控制机器人在执行任务的过程中按照弓字形的路径进行移动，且在机器人执行任务的过程中，及时对机器人的位置和机器人的航向角进行校正，既实现了机器人的移动路径能全面覆盖目标物体，又避免了机器人移动路径的重复。
在第一方面的一种可能实现方式中，电子设备控制机器人向目标物体的边界线移动之前，方法还包括：电子设备通过雷达获取机器人与机器人下方的探测物之间的至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离；电子设备在机器人向目标物体的边界线移动的过程中检测机器人是否位于目标物体的边缘区域，包括：在机器人向目标物体的边界线移动的过程中，电子设备通过雷达获取机器人与机器人下方的探测物之间的第二距离；在根据目标距离和第二距离确定满足第一条件的情况下，电子设备确定机器人位于目标物体的边缘区域，第一条件指示第二距离与目标距离之间的差值大于或等于第二阈值。
本实现方式中，由于电子设备是通过雷达实时获取机器人与机器人下方的探测物之间的距离，而雷达发出的电磁波能够穿透棉质物品或丝质物品，从而当机器人未位于目标物体边缘区域时，通过雷达探测到的为机器人与床板/弹簧床垫之间的距离，当机器人位于目标物体的边缘区域时，通过雷达探测到的为机器人与地板之间的距离，机器人与地板之间的距离会远大于机器人与床板/弹簧床垫之间的距离，本方案是亟此原理来实现对目标物体的边缘区域的检测。其中目标距离是从机器人与床板/弹簧床垫之间的至少一个距离之间获取到的最大值，由于不同用户床上放置的棉质物品的高度不同，所以不能够设置统一的目标距离，采用本方案提供的由电子设备通过雷达自主检测并生成目标距离的方式，能够提高机器人边缘判断过程的准确率，以避免机器人从目标物体上跌落；此外，由于雷达发出的电磁波能够穿透棉质物品，若床上的被褥/棉质床垫等棉质物品的大小超过了床板的大小， 采用本方案能够使机器人在床板的边缘区域时就确定机器人处于边缘区域，进而及时停止前进，由于棉质物品一般情况下并不足以支撑机器人，也即不足以避免机器人滑落，当机器人位于床板的边缘区域时就能及时暂停前进，也能避免机器人从目标物体上跌落，进而避免了用户浪费时间将跌落的机器人重新放置与目标物体上，也保证了机器人移动过程的连贯性。
在第一方面的一种可能实现方式中，电子设备将目标距离和第二阈值相加，得到第三阈值，电子设备通过雷达实时获取与机器人下方的探测物对应的回波数据，以生成与该回波数据对应的变化曲线，进而实时获取机器人与机器人下方的探测物之间的第二距离，并判断第二距离是否大于或等于第三阈值，若第二距离大于或等于第三阈值，则确定机器人位于目标物体的边缘区域，
在第一方面的一种可能实现方式中，电子设备通过雷达实时获取机器人与机器人下方的探测物之间的第二距离，计算第二距离与目标距离之间的差值，判断第二距离与目标距离之间的差值是否大于或等于第二阈值，若大于或等于第二阈值，则确定机器人位于目标物体的边缘区域。
在第一方面的一种可能实现方式中，方法还包括：在机器人执行任务的过程中，电子设备通过雷达获取机器人与机器人下方的探测物之间的第三距离；在根据目标距离和第三距离确定满足第一条件的情况下，电子设备确定机器人位于目标物体的边缘区域，控制机器人改变移动方向。
本实现方式中，在机器人执行任务的过程中，能够实时检测机器人是否位于目标物体的边缘区域，并在确定机器人位于目标物体的边缘区域时，及时控制机器人改变移动方向，从而避免机器人在执行任务时从目标物体上跌落下来，以提高机器人在执行任务过程的连贯性，也即避免用户在机器人执行任务的过程中浪费精力，以提高本方案的用户粘度。
第二方面，本申请实施例提供一种边缘区域的检测方法，可用于人工智能领域的智能机器人领域中。方法包括：电子设备获取至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离，第一距离为所述机器人移动之前，机器人与机器人下方的探测物之间的距离；获取第二距离，第二距离为机器人移动过程中，机器人与机器人下方的探测物之间的距离；在根据目标距离和第二距离确定满足第一条件的情况下，确定机器人位于目标物体的边缘区域，其中，目标物体为机器人执行任务相关的物体，机器人从目标物体的边缘区域跌落的概率大于机器人从目标物体的非边缘区域跌落的概率，第一条件指示第二距离与目标距离之间的差值大于第一阈值。
在第二方面的一种可能实现方式中，在机器人的移动过程中，电子设备获取机器人与机器人下方的探测物之间的第二距离之前，方法还包括：电子设备通过雷达采集机器人的目标范围内环境的第一点云数据，目标范围内环境包括雷达的当前探测范围中位于机器人前方的环境；在根据第一点云数据确定机器人的目标范围内周围环境中存在目标物体的边界线的情况下，控制机器人向目标物体的边界线移动；方法还包括：在机器人与目标物体的边界线之间的距离小于第一阈值，且机器人未位于目标物体的边缘区域的情况下，电子设备将目标物体的边界线确定为基准线，基准线用于在机器人执行任务的过程中辅助机器 人进行定位。
在本申请实施例的第二方面中，电子设备还可以执行第一方面的各个可能实现方式中电子设备执行的步骤，对于本申请实施例第二方面以及第二方面的各种可能实现方式的具体实现步骤，以及每种可能实现方式所带来的有益效果，均可以参考第一方面中各种可能的实现方式中的描述，此处不再一一赘述。
第三方面，本申请实施例提供一种位置校正装置，可用于人工智能领域的智能机器人领域中。位置校正装置包括：获取模块，用于获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角，基准线为目标物体的一个边界线，目标方向为基准线的垂直方向，第一航向角为机器人的移动方向与基准线之间的夹角；控制模块，用于根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。
在本申请实施例的第三方面中，位置校正装置还可以执行第一方面的各个可能实现方式中电子设备执行的步骤，对于本申请实施例第三方面以及第三方面的各种可能实现方式的具体实现步骤，以及每种可能实现方式所带来的有益效果，均可以参考第一方面中各种可能的实现方式中的描述，此处不再一一赘述。
第四方面，本申请实施例提供一种边缘区域的检测装置，其特征在于，边缘区域的检测装置包括：获取模块，用于获取至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离，第一距离为机器人移动之前，机器人与机器人下方的探测物之间的距离；获取模块，还用于获取第二距离，第二距离为机器人移动过程中，机器人与机器人下方的探测物之间的距离；确定模块，用于在根据目标距离和第二距离确定满足第一条件的情况下，确定机器人位于目标物体的边缘区域，其中，机器人从目标物体的边缘区域跌落的概率大于机器人从目标物体的非边缘区域跌落的概率，第一条件指示第二距离与目标距离之间的差值大于第一阈值。
在本申请实施例的第四方面中，边缘区域的检测装置还可以执行第二方面的各个可能实现方式中电子设备执行的步骤，对于本申请实施例第四方面以及第四方面的各种可能实现方式的具体实现步骤，以及每种可能实现方式所带来的有益效果，均可以参考第二方面中各种可能的实现方式中的描述，此处不再一一赘述。
第五方面，本申请实施例提供了一种电子设备，可以包括处理器，处理器和存储器耦合，存储器存储有程序指令，当存储器存储的程序指令被处理器执行时实现上述第一方面所述的电子设备执行的步骤，或者，当存储器存储的程序指令被处理器执行时实现上述第二方面所述的电子设备执行的步骤。
第六方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，当其在计算机上运行时，使得计算机执行上述第一方面所述的位置校正方法，或者，使得计算机执行上述第二方面所述的边缘区域的检测方法。
第七方面，本申请实施例提供了一种电路系统，所述电路系统包括处理电路，所述处理电路配置为执行上述第一方面所述的电子设备执行的步骤，或者，执行上述第二方面所述的电子设备执行的步骤。
第八方面，本申请实施例提供了一种计算机程序，当其在计算机上运行时，使得计算机执行上述第一方面所述的电子设备执行的步骤，或者，执行上述第二方面所述的电子设备执行的步骤。
第九方面，本申请实施例提供了一种芯片系统，该芯片系统包括处理器，用于实现上述各个方面中所涉及的功能，例如，发送或处理上述方法中所涉及的数据和/或信息。在一种可能的设计中，所述芯片系统还包括存储器，所述存储器，用于保存服务器或通信设备必要的程序指令和数据。该芯片系统，可以由芯片构成，也可以包括芯片和其他分立器件。
附图说明
图1为本申请实施例提供的机器人的一种结构示意图；
图2为本申请实施例提供的机器人的位置校正方法的一种流程示意图；
图3为本申请实施例提供的机器人的位置校正方法中与机器人下方的探测物对应的回波数据的变化曲线的两种示意图；
图4为本申请实施例提供的机器人的位置校正方法中第一目标范围的一种示意图；
图5为本申请实施例提供的机器人的位置校正方法中第二点云数据的两种示意图；
图6为本申请实施例提供的机器人的位置校正方法中与机器人下方的探测物对应的回波数据的变化曲线的另一种示意图；
图7为本申请实施例提供的机器人的位置校正方法中确定基准线的一种示意图；
图8为本申请实施例提供的机器人的位置校正方法中确定基准线的另一种示意图；
图9为本申请实施例提供的机器人的位置校正方法中雷达的探测点的一种示意图；
图10为本申请实施例提供的机器人的位置校正方法中第一实际距离和第一航向角的一种示意图；
图11为本申请实施例提供的机器人的位置校正方法中预期距离、第一实际距离和第一航向角的一种示意图；
图12为本申请实施例提供的位置校正装置的一种结构示意图；
图13为本申请实施例提供的位置校正装置的另一种结构示意图；
图14为本申请实施例提供的边缘区域的检测装置的一种结构示意图；
图15为本申请实施例提供的边缘区域的检测装置的另一种结构示意图；
图16为本申请实施例提供的电子设备的一种结构示意图。
具体实施方式
下面结合附图，对本申请的实施例进行描述。本领域普通技术人员可知，随着技术的发展和新场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
本申请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术语在适当情况下可以互换，这仅仅是描述本申请的实施例中对相同属性的对象在描述时所采用的区分方式。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，以便 包含一系列单元的过程、方法、系统、产品或设备不必限于那些单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它单元。
本申请实施例提供的方案可以应用于机器人中，作为示例，例如机器人在对床上的被褥进行除螨的时候，特别是机器人在被子的覆盖下对褥子进行除螨时，则机器人不仅受重力容易导致机器人陷入家居用品中，且覆盖于被子下面，机器人就无法采集到周围的环境信息，从而无法通过对比机器人周围的环境信息和整个目标物体的环境来实现对机器人位置的定位，进而无法对机器人的位置进行校正。作为再一示例，例如机器人在对玩具房的地板进行除尘，但由于玩具房中散落有好多玩具，则散落的玩具也会妨碍机器人采集周围环境，进而无法实现对机器人位置的校正等，此处不对本方案的所有应用场景进行举例，在前述种种场景中，均需要采用一种新的定位方式来对机器人进行定位，以对机器人的位置进行校正。
在详细讲解本申请实施例提供的机器人的位置校正方法之前，先参阅图1，图1为本申请实施例提供的机器人的一种结构示意图。机器人1包括处理模块10、雷达20和驱动模块30。其中，处理模块10具体可以表现为处理芯片，进一步地，该处理芯片具体可以表现为中央处理器(central processing unit，CPU)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程逻辑门阵列(field programmable gate array，FPGA)、神经网络处理器(neural-network processing unit，NPU)或图形处理器(graphics processing unit，GPU)等芯片。
雷达20用于发出电磁波，该电磁波的频段包括但不限于24G、77G、60G、5G、2.4G或其他频段等，此处不做限定。驱动模块30用于按照处理模块10发出的指令，控制机器人原地旋转或移动，驱动模块30可以采用电力驱动技术，例如驱动模块30中采用的可以为步进电机、伺服电机等，驱动模块30也可以采用液压驱动技术、气动驱动技术或其他驱动技术等，此处不做限定。
具体的，处理模块10可以通过雷达20获取基准线与机器人1之间的相对位置信息，也即获取到机器人1与基准线在目标方向上的实际距离和机器人1相对于基准线的实际航向角；处理模块10还可以根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，通过向驱动模块30发出指令，以控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。利用基准线采用相对定位技术来实现对机器人位置的校正，提供了一种机器人在移动过程中自动位置校正的方案。
应理解，图1仅为方便理解机器人的硬件结构的一个示例，在实际应用产品中，机器人还可以表现为其他形态，此处不做限定。
基于上述描述，以下对本申请实施例提供了的机器人的位置校正方法进行详细描述，请参阅图2，图2为本申请实施例提供的机器人的位置校正方法的一种流程示意图，方法可以包括：
201、电子设备通过雷达获取机器人与机器人下方的探测物之间的至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离。
本申请的一些实施例中，电子设备被放置于目标物体上后，可以通过雷达获取机器人 与机器人下方的探测物之间的至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离。其中，电子设备可以表现为该机器人，也可以表现为机器人中的处理器。
具体的，电子设备可以通过机器人的驱动模块驱动机器人微动，以带动集成于机器人中的雷达微动，从而启动雷达的探测功能。其中，机器人微动包括但不限于前后微动、左右微动、原地旋转等小范围移动或其他方式等，此处不做穷举，需要说明的是，机器人微动的过程不视为机器人行进的过程。电子设备可以通过专门用于探测机器人下方的探测物距离的一个或多个雷达执行探测操作，或者，电子设备可以通过雷达的一个或多个第一探测天线执行该探测操作，第一探测天线为雷达包括的至少两个天线中专门用于探测机器人下方的探测物距离的天线。电子设备通过专门用于探测机器人下方的探测物距离的雷达或第一探测天线检测机器人下方的探测物返回的反射信号，并获取与该反射信号对应的回波数据，以生成与该回波数据对应的变化曲线，进而获取到机器人与机器人下方的探测物之间的至少一个第一距离，进而可以选取最大的距离作为目标距离。
为更直观地理解本方案，请参阅图3，图3为本申请实施例提供的机器人的位置校正方法中与机器人下方的探测物对应的回波数据的变化曲线的两种示意图。图3包括(a)和(b)两个子示意图，图3的(a)子示意图以机器人对配置有弹簧床垫的床上用品(也即目标物体的一种示例)进行除菌为例，图3的(b)子示意图以机器人对木板床上的床上用品(也即目标物体的另一种示例)进行除菌为例，图3的(a)子示意图和(b)子示意图中的纵坐标代表机器人下方的探测物产生的回波数据的强度，横坐标均代表机器人与机器人下方的探测物之间的距离，与回波数据对应的变化曲线中波峰位置所对应的距离值代表机器人与机器人下方的探测物之间的距离，图3的(a)子示意图代表机器人与弹簧床垫之间的距离为0.18米，图3的(b)子示意图代表机器人与木板床之间的距离为0.3米，对比图3的(a)子示意图和(b)子示意图可知，由于不同用户的床的床垫、被褥等床上用品的厚度不同，则与不同的床对应的第一距离可以不同，从而与不同用户对应的目标距离也不同，应理解，图3中的示例仅为方便理解本方案，不用于限定本方案。
202、电子设备通过雷达采集机器人的目标范围内环境的点云数据，目标范围内环境包括雷达的当前探测范围中位于机器人前方的环境。
本申请的一些实施例中，若电子设备被初始放置于目标物体上的任意位置后，可以将机器人的初始朝向(为方便与后续描述进行区分，也可以称为第一朝向)初始化为0°，机器人的初始朝向也即机器人轮子的当前朝向。通过第一雷达采集机器人的第一目标范围内环境的第一点云数据。其中，第一目标范围内环境包括第一雷达的当前探测范围中位于机器人前方的环境，进一步地，以机器人的当前朝向为中心线，第一目标范围内环境可以包括中心线左右第一角度范围内的机器人前方的环境，也即第一雷达的当前探测范围为中心线左右第一角度范围内，该第一角度范围可以为30度、50度、60度、80度或其他数值等等，此处不做穷举。第一点云数据为一种点云数据，点云数据可简称为点云(point cloud)，是指在同一空间参考系下表达物体的空间分布和物体的表面特性的点的集合，在获取目标范围内环境中物体表面每个采样点的空间坐标后，得到的是点的集合，称之为点云。
具体的，电子设备通过机器人的驱动模块驱动机器人微动，并检测第一目标范围内环 境所产生的反射信号，以获取与第一目标范围内环境对应的回波数据，对回波数据中包括的每一帧的回波数据分别进行二维快速傅里叶变换(2D-FFT)，对所得谱信息进行恒虚警检测(constant false alarm rate，CFAR)，并利用角度估计算法生成机器人的第一目标范围内环境的第一点云数据。
为更直观地理解本方案，请参阅图4，图4为本申请实施例提供的机器人的位置校正方法中第一目标范围的一种示意图。图4中A1代表机器人上的一个雷达，A2指向的区域(也即图4中A1前方发出的波形区域)代表第一目标范围，应理解，图4中的示例仅为方便理解本方案，不用于限定本方案。
若为通过步骤203或步骤207进入步骤202，则在一种实现方式中，电子设备控制机器人的朝向改变为第二朝向，第二朝向为初始朝向向左/向右旋转一个或多个第一角度得到的。电子设备通过雷达采集与旋转后的机器人对应的第二目标范围内环境的第三点云数据。其中，第一角度可以采用20度、30度、45度、50度或其他数值等，只要保证第一角度的取值小于第一角度范围的取值即可，此处不做穷举。进一步地，以旋转后的机器人的当前朝向为中心线，第二目标范围内环境可以包括旋转后的机器人的当前朝向的左右第一角度范围内的机器人前方的环境。
在另一实现方式中，机器人中可以在不同方向上集成多个雷达或多个探测天线，则电子设备也可以不用旋转机器人，直接通过第二雷达或第二探测天线以采集第二目标范围内环境的第三点云数据，第二雷达与第一雷达为布置于不同方位上的雷达，第二探测天线与第一探测天线为布置于不同方位上的探测天线。
需要说明的是，本申请实施例不限定步骤201和202之间的执行顺序，电子设备可以同时执行步骤201和202，具体的，在一种情况下，电子设备中可以配置有专门用于获取机器人与机器人下方的探测物之间距离的雷达，和专门用于对机器人前方环境进行探测的雷达，则电子设备可以通过不同的雷达分别执行步骤201和202；在另一种情况下，电子设备中可以配置有专门用于获取机器人与机器人下方的探测物之间距离的探测天线，和专门用于对机器人前方环境进行探测的探测天线，则电子设备可以通过不同的探测天线分别执行步骤201和202。或者，电子设备也可以先执行步骤201，再执行步骤202；或者，电子设备可以先执行步骤202，再执行步骤201。
203、电子设备根据机器人的目标范围内环境的点云数据，判断机器人的目标范围内环境中是否存在目标物体的边界线，若存在，则进入步骤204；若不存在，则重新进入步骤202。
本申请的一些实施例中，电子设备在通过步骤202获取到第一点云数据或第三点云数据之后，会根据第一点云数据或第三点云数据判断机器人的目标范围内环境中是否存在目标物体的边界线，若存在，则进入步骤204；若不存在，则中心进入步骤202，以继续获取机器人周围的环境信息，目标物体为机器人执行任务相关的物体。
具体的，在一种实现方式中，电子设备中可以预先存储有一个或多个第二点云数据，每个第二点云数据均代表雷达采集到的线条的点云数据，与不同的第二点云数据对应的线条与雷达之间的相对角度可以不同。电子设备判断机器人的目标范围内环境中是否存在目 标物体的边界线可以包括：电子设备获取通过步骤202得到的第一点云数据/第三点云数据与至少一个第二点云数据中每个第二点云数据之间的第一相似度，并判断每个第一相似度是否大于或等于预设相似度阈值，若至少一个第二点云数据中存在目标点云数据，则确定机器人的目标范围内周围环境中存在目标物体的边界线。其中，目标点云数据与第一点云数据之间的相似度大于或等于预设相似度阈值，预设相似度阈值可以为百分之八十、百分之八十五、百分之九十、百分之九十五或其他取值等等，此处不做限定。
为更直观地理解本方案，请参阅图5，图5为本申请实施例提供的机器人的位置校正方法中第二点云数据的两种示意图。图5包括(a)和(b)两个子示意图，图5的(a)子示意图代表目标物体的边界线位于雷达的正前方时所采集到的目标物体的边界线的点云数据，图5的(b)子示意图代表目标物体的边界线位于雷达的左前方时采集到的目标物体的边界线的点云数据，应理解，图5中的示例仅为方便理解本方案，不用于限定本方案。
在一种实现方式中，电子设备对通过步骤202得到的第一点云数据/第三点云数据执行滤波操作和拟合操作，若第一点云数据/第三点云数据的拟合结果为线性函数且线性函数的拟合误差小于预设误差阈值，则确定机器人的目标范围内周围环境中存在目标物体的边界线。其中，拟合误差用于反映第一点云数据相对于拟合出的线性函数的聚合度，第一点云数据相对于拟合出的线性函数的聚合度越大，拟合误差越小，拟合程度越好；第一点云数据相对于拟合出的线性函数的聚合度越小，拟合误差越大，拟合程度越差。作为示例，预设误差阈值的取值可以为0.5，1.0或其他数值等，此处不做限定。
具体的，电子设备在对通过步骤202得到的第一点云数据/第三点云数据执行滤波操作和拟合操作，得到第一线性函数之后，可以计算第一点云数据/第三点云数据包括的多个点中每个点与第一线性函数之间的距离值，并计算第一点云数据/第三点云数据包括的所有点与第一线性函数之间的距离值的平均值，或者，计算第一点云数据/第三点云数据包括的多个点与第一线性函数之间的多个距离值中的最大值，或者，计算第一点云数据/第三点云数据包括的多个点与第一线性函数之间的多个距离值中的最小值等。
本申请实施例中，提供了根据第一点云数据确定机器人的目标范围内周围环境中是否存在目标物体的边界线的两种判断方式，提高了本方案的实现灵活性。
204、电子设备控制机器人向目标物体的边界线移动。
本申请的一些实施例中，电子设备在确定机器人的目标范围内环境中存在目标物体的边界线之后，会根据目标物体的边界线的位置信息，控制机器人向目标物体的边界线移动。其中，目标物体的边界线的位置信息可以包括目标物体的边界线与机器人当前位置之间的相对角度和相对距离，目标物体的边界线与机器人当前位置之间的相对距离指的是机器人与目标物体的边界线在目标方向上的距离，目标方向为与目标物体的边界线垂直的方向。
具体的，电子设备可以根据目标物体的边界线与机器人当前位置之间的相对角度，控制机器人的朝向旋转至与目标物体的边界线垂直，并根据目标物体的边界线与机器人当前位置之间的相对距离，沿着前述方向向目标物体的边界线移动。
205、电子设备在机器人向目标物体的边界线移动的过程中检测机器人与目标物体的边界线之间的距离。
本申请的一些实施例中，电子设备在机器人向目标物体的边界线移动的过程中实时检测机器人与目标物体的边界线之间的距离。具体的，电子设备在机器人向目标物体的边界线移动的过程中，可以通过雷达实时获取与目标物体的边界线对应的点云数据，根据与目标物体的边界线对应的点云数据生成机器人与目标物体的边界线在目标方向上的相对距离。
206、电子设备在机器人向目标物体的边界线移动的过程中检测机器人是否位于目标物体的边缘区域。
本申请的一些实施例中，电子设备在机器人向目标物体的边界线移动的过程中实时检测机器人是否位于目标物体的边缘区域。其中，目标物体具体可以为床、地板、毯子、草地或其他机器人能够工作的物体等，此处不做穷举。目标物体的边缘区域也可以称为目标物体的危险区域、目标物体的悬崖区域或其他名称等，机器人从目标物体的边缘区域跌落的概率大于机器人从目标物体的非边缘区域跌落的概率，也即当机器人在目标物体的边缘区域移动时，更容易从目标物体上跌落。需要说明的是，此处引出“机器人从目标物体的边缘区域跌落的概率”和“机器人从目标物体的非边缘区域跌落的概率”两个概念仅为方便理解目标物体的边缘区域，在实际情况中，机器人不需要通过计算“机器人从目标物体上跌落的概率”的方式来区分目标物体的边缘区域和非边缘区域，此外，目标物体的边缘区域并非是一个固定面积的区域，也即机器人不会对目标物体的边缘区域和非边缘区域进行划分，具体目标物体中哪些区域为边缘区域，哪些区域为非边缘区域由机器人基于探测结果决定。
具体的，步骤201为可选步骤，在一种实现方式中，若执行步骤201，步骤206可以包括：电子设备在机器人向目标物体的边界线移动的过程中，通过雷达实时获取机器人与机器人下方的探测物之间的第二距离，在根据目标距离和第二距离确定满足第一条件的情况下，确定机器人位于目标物体的边缘区域，第一条件指示第二距离与目标距离之间的差值大于或等于第二阈值。其中，第二阈值的取值可以为20厘米、30厘米、35厘米或其他数值等等，此处不做限定。
更具体的，在一种情况中，电子设备将目标距离和第二阈值相加，得到第三阈值，电子设备通过雷达实时获取与机器人下方的探测物对应的回波数据，以生成与该回波数据对应的变化曲线，进而实时获取机器人与机器人下方的探测物之间的第二距离，并判断第二距离是否大于或等于第三阈值，若第二距离大于或等于第三阈值，则确定机器人位于目标物体的边缘区域；若第二距离小于第三阈值，则确定机器人未位于目标物体的边缘区域，并继续获取机器人与机器人下方的探测物之间的距离。需要说明的是，电子设备通过雷达实时获取与机器人下方的探测物对应的回波数据的具体实现方式可参阅上述步骤201中的描述，此处不再赘述。
为更直观地理解本方案，请参阅图6，图6为本申请实施例提供的机器人的位置校正方法中与机器人下方的探测物对应的回波数据的变化曲线的另一种示意图。图6以机器人对弹簧床上的床上用品(也即目标物体的一种示例)进行除螨为例，图6需结合图3的(a)子示意图进行理解，此处以图3的(a)子示意图对应的目标距离的取值为0.18米为例，也即以机器人与弹簧床垫之间的最大距离为0.18米为例，而图6中B1(也即回波数据的强度 最高的点)指示电子设备通过雷达获取到机器人与机器人的下方的探测物之间的距离达到了0.8米，0.8米与0.18米之间的差值大于第二阈值，因此可将，当机器人移动至B1指向的位置点时，机器人位于目标物体的边缘区域，应理解，图6中的示例仅为方便理解本方案，不用于限定本方案。
在另一种情况中，电子设备通过雷达实时获取机器人与机器人下方的探测物之间的第二距离，计算第二距离与目标距离之间的差值，判断第二距离与目标距离之间的差值是否大于或等于第二阈值，若大于或等于第二阈值，则确定机器人位于目标物体的边缘区域；若小于第二阈值，则确定机器人未位于目标物体的边缘区域，并继续获取机器人与机器人下方的探测物之间的距离。
本申请实施例中，由于电子设备是通过雷达实时获取机器人与机器人下方的探测物之间的距离，而雷达发出的电磁波能够穿透棉质物品、丝织物品，从而当机器人未位于目标物体边缘区域时，通过雷达探测到的为机器人与床板/弹簧床垫之间的距离，当机器人位于目标物体的边缘区域时，通过雷达探测到的为机器人与地板之间的距离，机器人与地板之间的距离会远大于机器人与床板/弹簧床垫之间的距离，本方案是亟此原理来实现对目标物体的边缘区域的检测。其中目标距离是从机器人与床板/弹簧床垫之间的至少一个距离之间获取到的最大值，由于不同用户目标物体上放置的棉质物品的高度不同，所以不能够设置统一的目标距离，采用本方案提供的由电子设备通过雷达自主检测并生成目标距离的方式，能够提高机器人边缘判断过程的准确率，以避免机器人从目标物体上跌落；此外，由于雷达发出的电磁波能够穿透棉质物品，若床上的被褥/棉质床垫等棉质物品、丝织物品的大小超过了床板的大小，采用本方案能够使机器人在床板的边缘区域时就确定机器人处于边缘区域，进而及时停止前进，由于棉质物品一般情况下并不足以支撑机器人，也即不足以避免机器人滑落，当机器人位于床板的边缘区域时就能及时暂停前进，也能避免机器人从目标物体上跌落，进而避免了用户浪费时间将跌落的机器人重新放置与目标物体上，也保证了机器人移动过程的连贯性。
在另一种实现方式中，若不执行步骤201，则电子设备中还可以配置有预设距离阈值，该预设距离阈值为一个固定的距离值，电子设备在机器人向目标物体的边界线移动的过程中，通过雷达实时获取机器人与机器人下方的探测物之间的第二距离，并判断第二距离是否大于或等于该预设距离阈值，若第二距离大于或等于该预设距离阈值，则确定机器人位于目标物体的边缘区域；若第二距离小于该预设距离阈值，则确定机器人未位于目标物体的边缘区域。
需要说明的是，本申请实施例不限定步骤204和步骤205之间的执行顺序，电子设备可以同时执行步骤204和205，具体的，在一种情况下，电子设备中可以配置有专门用于获取机器人与机器人下方的探测物之间距离的雷达，和专门用于对机器人前方环境进行探测的雷达，则电子设备可以通过不同的雷达分别执行步骤204和205；在另一种情况下，电子设备中可以配置有专门用于获取机器人与机器人下方的探测物之间距离的探测天线，和专门用于对机器人前方环境进行探测的探测天线，则电子设备可以通过不同的探测天线分别执行步骤204和205。
在另一种实现方式中，步骤205还可以包括：电子设备通过红外传感器或其他类型的传感器等来实时采集机器人周围的环境数据，根据机器人周围的环境数据，判断机器人是否位于目标物体的边缘区域等，此处不对电子设备检测机器人是否位于目标物体的边缘区域的具体实现方式进行穷举。
207、电子设备判断机器人与目标物体的边界线之间的距离是否小于第一阈值，且机器人未位于目标物体的边缘区域；若机器人与目标物体的边界线之间的距离小于第一阈值且机器人未位于目标物体的边缘区域，则进入步骤208；若机器人与目标物体的边界线之间的距离大于第一阈值且机器人位于目标物体的边缘区域，则重新进入步骤202。
本申请的一些实施例中，电子设备判断机器人与目标物体的边界线之间的距离是否小于第一阈值，且机器人未位于目标物体的边缘区域；若机器人与目标物体的边界线之间的距离小于第一阈值且机器人未位于目标物体的边缘区域，则进入步骤208；其中，第一阈值的取值可以5厘米、10厘米、12厘米、15厘米或其他数值等等，此处不做限定。
若机器人与目标物体的边界线之间的距离大于第一阈值且机器人位于目标物体的边缘区域，则电子设备确定目标物体的边界线不是基准线，电子设备可以驱动机器人旋转180度(也即完成掉头)，进而控制机器人移动至机器人的初始位置(也即机器人被放置于目标物体时的放置位置)，进而重新进入步骤202，以从机器人周围环境中探测下一个目标物体的边界线，进而判断下一个目标物体的边界线是否为基准线。若机器人与目标物体的边界线之间的距离大于第一阈值且机器人未位于目标物体的边缘区域，则继续执行步骤204和205，直至机器人与目标物体的边界线之间的距离小于第一阈值，或，机器人位于目标物体的边缘区域内。
208、电子设备将目标物体的边界线确定为基准线。
本申请的一些实施例中，若机器人与目标物体的边界线之间的距离小于第一阈值且机器人未位于目标物体的边缘区域，则电子设备将目标物体的边界线确定为基准线。
为更直观地理解本方案，请参阅图7，图7为本申请实施例提供的机器人的位置校正方法中确定基准线的一种示意图。图7中以电子设备执行步骤201至207三次后，才确定了基准线为例，如图7所示，电子设备先通过雷达检测到床尾的边界(也即目标物体的一个边界线)，控制机器人向床尾的边界线移动，但由于当机器人与床尾的边界线之间的距离小于第一阈值时，机器人位于床的边缘区域，则电子设备控制机器人返回初始点；电子设备控制机器人向右旋转120度，通过雷达检测到床的左侧的边界线(也即目标物体的一个边界线)，控制机器人向床的左侧的边界线移动，但由于当机器人与床的左侧的边界线之间的距离小于第一阈值时，机器人位于床的边缘区域，则电子设备再次控制机器人返回初始点；电子设备控制机器人向右旋转120度，通过雷达检测到床头的边界线(也即一个目标物体的边界线)，控制机器人向床头的边界线移动，但由于当机器人与床头的边界线之间的距离小于第一阈值时，机器人未位于床的边缘区域，从而将床头的边界线确定为基准线，并控制机器人沿着基准线移动，应理解，图7中的示例仅为方便理解本方案，不用于限定本方案。
本申请实施例中，提供了机器人自动确定基准线的一种方案，从而无论用户将机器人 放置于目标物体上的任意位置处，机器人均能够查找到基准线，并在机器人进行清洁的过程中，利用该基准线对机器人的位置进行校正；此外，并不是将检测到的任意一条线条(也即目标物体的任意一条边缘线)作为基准线，而是只有在机器人与目标物体的边界线之间的距离小于第一阈值，且机器人未位于边缘区域的情况下，才会将该目标物体的边界线确定为基准线，也即基准线不仅为目标物体的一个边缘线，且基准线不位于目标物体的边缘区域，从而避免了机器人在寻找基准线过程中从目标物体上跌落。
209、电子设备控制机器人沿基准线移动，当机器人移动至目标物体的边缘区域，控制机器人暂停移动，并将机器人的当前位置点作为基准点。
本申请的一些实施例中，当电子设备位于基准线处时，电子设备还可以控制机器人沿基准线移动，并在机器人沿基准线移动的过程中，实时检测机器人是否移动至目标物体的边缘区域，当检测到机器人位于目标物体的边缘区域时，控制机器人暂停移动，将机器人原地旋转180度，将机器人的当前位置作为基准点，还可以将机器人的当前朝向作为0度朝向，将该基准点为机器人执行任务的起始点。其中，该任务可以为除螨、吸尘、除湿、熨烫衣物、割草、采集细菌样本或其他类型的任务等等，此处不做限定。
本申请实施例中，由于基准线为目标物体的一个边缘线，基准点为该边缘线上的边缘区域，也即该基准点为目标物体的一个顶点，以目标物体的一个顶点作为机器人执行任务过程中的起始点，从而更容易规划机器人的移动路径，且能够规划处无重复的执行任务路径，使得机器人的执行任务路径更为条理化，有利于提高机器人执行任务过程的效率，降低机器人执行任务时长。
为更直观地理解本方案，请参阅图8，图8为本申请实施例提供的机器人的位置校正方法中确定基准线的一种示意图。图8包括(a)、(b)、(c)、(d)和(e)五个子示意图，图8的(a)子示意图以基准线位于机器人的正前方为例，图8的(a)子示意图代表电子设备通过雷达采集到的机器人目标范围内的环境的点云数据拟合出的基准线；图8的(b)子示意图代表电子设备控制机器人沿着与基准线垂直的方向(也即目标方向)向基准线移动；图8的(c)子示意图代表电子设备控制机器人沿基准线移动，并实时检测机器人是否移动至目标物体(也即图8中的床)的边缘区域；图8的(d)子示意图代表电子设备检测到机器人位于目标物体的边缘区域，控制机器人暂停在该方向上的移动；图8的(e)子示意图代表电子设备控制机器人旋转180度，并将机器人的当前位置作为基准点，该基准点作为机器人对床进行除螨过程的起始点，应理解，图8中的示例仅为方便理解本方案，不用于限定本方案。
需要说明的是，步骤209为可选步骤，若用户每次将机器人放置于目标物体上时就将机器人放置于目标物体的一个顶点处，则电子设备可以直接将机器人的当前位置确定为机器人的执行任务时的起始点，也即无需执行步骤209，机器人就可以将目标物体的一个顶点作为执行任务的起始点。
需要说明的是，步骤202至208为可选步骤，电子设备中可以预先配置有基准线确认规则，该基准线确认规则指示电子设备将检测到的第一个线条作为基准线，当电子设备检测到基准线后，控制机器人移动至该基准线处。则在机器人的使用说明中可以示出，用户 在使用机器人的时候需要将机器人放置于朝基准线的方向，基准线为目标物体中有遮挡物的边缘线。作为示例，例如床头与床面(也即目标物体的一个示例)相交形成基准线；再例如床面的侧边靠着墙体，床面的侧边与墙体相交形成基准线等，此处不做穷举。
或者，用户每次可以直接将机器人放置于基准线上，从而电子设备也无需通过执行步骤202至208才能测量得到基准线，也即电子设备无需执行步骤202至208，可以直接沿着基准线移动。
电子设备在得到机器人在执行任务的起始点之后，将执行任务的起始点作为坐标原点，将基准线作为坐标系中的x轴，可以确定机器人在执行任务过程中的移动路径，并对机器人在执行任务过程中的位置进行建模，以完成对机器人定位过程的初始化。电子设备中可以预先存储有执行任务过程中的移动路径的规划规则，电子设备在得到基准线之后，可以根据该规划规则确定机器人在执行任务过程中的移动路径。
可选地，机器人在执行任务过程中的移动路径为弓字形，弓字形的移动路径中包括第二移动方向和第三移动方向。第二移动方向与基准线平行，第三移动方向与基准线垂直。需要说明的是，电子设备希望机器人在执行任务过程中的移动路径为弓字形，但由于机器人在移动过程中会与预期路径之间存在误差，而且在移动过程中，电子设备会对机器人的位置进行校正，所以机器人的实际移动路径会与弓字形类似，而可能不会完全一致。
本申请实施例中，以目标物体的一个顶点为起始点，控制机器人在执行任务的过程中按照弓字形的路径进行移动，且在机器人执行任务的过程中，及时对机器人的位置和机器人的航向角进行校正，既实现了机器人的移动路径能全面覆盖目标物体，又避免了机器人移动路径的重复。
为更直观地理解本方案，电子设备可以采用x、y和θ这三个维度来描述机器人相对于基准线的位置，此处以机器人在执行任务过程中的移动路径为弓字形为例，电子设备可以利用先验信息(也即上述各个步骤中的基准线)为机器人的位置建立如下模型：
Figure PCTCN2021141231-appb-000001
其中，x cliff代表机器人的当前位置在x轴方向上的取值，当机器人抵达目标物体的边缘区域时，x cliff的取值会被复位为0，n x代表机器人在沿x轴方向移动时的编码器累增量，当机器人抵达目标物体的边缘区域时，n x的取值会被复位为0，res代表编码器的刻度与机器人的移动距离之间的映射关系，θ代表机器人相对于基准线的实际航向角，τ x代表机器人在移动过程中在x轴方向上的累积距离误差，y abs代表机器人与基准线在y轴方向上的距离，y轴方向也即与基准线垂直的方向，n y代表机器人在沿y轴方向移动时的编码器累增量，当机器人抵达目标物体的边缘区域时，n y的取值会被复位为0，d width代表机器人每次 在y轴方向上移动时的期望移动距离，当机器人每进行一次沿y轴方向上的移动后i y加1，τ y代表机器人在移动过程中在y轴方向上的累积距离误差，需要借助基准线进行校正，
Figure PCTCN2021141231-appb-000002
代表机器人在按照弓字形路径进行移动的过程中，每次的旋转角度为90度，θ abs代表机器人相对于基准线的初始航向角，机器人在从基准点出发时的初始航向角为0度，
Figure PCTCN2021141231-appb-000003
代表机器人在执行任务过程中的预期航向角，τ θ2代表机器人在执行任务过程中由于打滑造成的航向角偏移，τ θ2能够通过机器人的惯性测量单元(inertial measurement unit，IMU)测量得到，并能够由机器人自行进行校正，τ θ1代表机器人在执行任务过程中的累积航向角误差，需要借助基准线进行校正，需要说明的是，式(1)中的举例仅为方便理解本方案，不用于限定本方案。
需要说明的是，τ θ1不是由于打滑造成的航向角偏差，而是由于机器人中配置的元件精度不够造成的航向角偏差，也即即使将机器人放置于粗糙表面上，也即即使机器人并不发生打滑，也会产生τ θ1这种航向角偏差。τ x和τ y均既包括由于打滑造成的距离误差，也包括由于机器人中配置的元件精度不够而产生的距离误差。
更进一步地，若机器人在执行任务过程中的移动路径是弓字形，则电子设备可以预先为机器人定义三种类型的运动方式，第一种为沿x轴方向的运动，机器人的移动速度为固定速度，
Figure PCTCN2021141231-appb-000004
预期航向角被设计为根据τ θ2进行反向校正后的航向，目的是使机器人实际行进轨迹为直线；第二种为沿y轴方向运动，
Figure PCTCN2021141231-appb-000005
预期航向角被设计为根据τ θ2进行反向校正后的航向；第三种为原地旋转运动，转动角度为90度。
具体的，电子设备在确定基准线和基准点之后，以基准点为起点，在机器人执行任务的过程中，控制机器人沿着基准线移动，并在机器人执行任务的过程中通过雷达实时检测机器人是否位于目标物体的边缘区域，当电子设备确定机器人位于目标物体的边缘区域时，控制机器人暂停移动(也即控制机器人不再沿原方向移动)，并控制机器人向远离基准线的方向旋转90度(也即改变移动方向)，也即旋转后的机器人与基准线垂直。
在控制机器人旋转后，通过雷达检测机器人是否位于目标物体的边缘区域，若旋转后的机器人不再位于目标物体的边缘区域，则控制旋转后的机器人沿垂直基准线的方向移动预设长度，并再次控制机器人向远离基准线的方向旋转90度，以沿与基准线平行的方向继续移动；电子设备控制机器人重复执行前述步骤，直至旋转后的机器人依旧位于目标物体的边缘区域，则确定任务执行完毕。其中，预设长度的取值需要小于或等于机器人直径，作为示例，例如预设长度的值可以为15厘米、20厘米、25厘米等等，此处不做限定。
本申请实施例中，在所述机器人执行任务的过程中，能够实时检测机器人是否位于目标物体的边缘区域，并在确定机器人位于目标物体的边缘区域时，及时控制机器人改变移 动方向，从而避免机器人在执行任务时从目标物体上跌落下来，以提高机器人在执行任务过程的连贯性，也即避免用户在机器人执行任务的过程中浪费精力，以提高本方案的用户粘度。
为更直观地理解本方案，请参阅图9，图9为本申请实施例提供的机器人的位置校正方法中雷达的探测点的一种示意图。图9中以机器人执行任务过程中的移动路径为弓字形为例，C1代表当机器人在床头位置沿基准线移动时，雷达/探测天线的配置点(也即探测点)的位置，C2代表当机器人在床头位置旋转后的机器人上，雷达/探测天线的配置点(也即探测点)的位置，对比C1和C2可知，C1与目标物体的边缘区域之间的距离更近，因此，虽然机器人的位置没变，但机器人旋转后，电子设备确定机器人不再位于目标物体的边缘区域。C3代表机器人在床尾位置以平行于基准线的方向移动时，雷达/探测天线的配置点(也即探测点)的位置，C4代表机器人在床尾位置时旋转后的机器人上雷达/探测天线的配置点(也即探测点)的位置，对比C3和C4可知，虽然旋转后检测点的位置发生了改变，但由于已经到了到达了床尾(也即已经机器人完成了任务)，旋转后的机器人上的雷达/探测天线依旧检测到机器人位于目标物体的边缘区域，因此，当电子设备检测到旋转后的机器人依旧位于目标物体的边缘区域时，可以确定任务已经执行完成，应理解，图9中的示例仅为方便理解本方案，不用于限定本方案。
需要说明的是，在机器人执行任务的过程中，会根据机器人与基准线之间的相对距离和相对角度，对机器人的位置和机器人的航向角进行校正，具体实现方式可以参阅如下步骤210和211中的描述。
210、电子设备获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角。
本申请实施例中，电子设备在确定基准线并完成对机器人定位过程的初始化后，可以控制机器人执行任务，并在机器人执行任务的过程中借助基准线对机器人的位置和机器人的航向角进行校正，也即机器人在执行任务的过程中会通过步骤210和后续步骤211对机器人的位置和机器人的航向角进行校正。
针对电子设备对机器人的位置和航向角进行校正的触发条件。在一种实现方式中，电子设备可以每隔预设时长执行一次机器人的位置和机器人的航向角校正操作，步骤210可以包括：电子设备每隔预设时长均获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角，其中，预设时长可以为10秒、20秒、30秒、1分钟、5分钟或其他数据等等，此处不做限定。
在另一种实现方式中，电子设备可以在与机器人对应的x的值取值为预设值的时候执行一次校正操作，该预设值可以为x值的最大值的一半，该预设值也可以包括3个值，分别为x值的最大值的四分之一、二分之一和四分之三等，此处不做穷举，需要说明的是，本申请实施例提供了对机器人的位置和航向角进行校正的两种触发条件仅为方便理解本方案，在实际产品中，还有可能会采用其他的触发条件，此处不做穷举。
具体的，由于电子设备是按照预先确定好的路径控制机器人移动，则在机器人执行任务的过程中，虽然机器人在移动过程中会产生航向角偏离，但电子设备能够得知基准线与 机器人之间的相对方位，也即电子设备能够得知基准线位于机器人的目标方向范围里。作为示例，例如机器人执行任务的规划路径为弓字形，则机器人在首次到达目标物体的边缘区域时，并旋转90度后，则基准线位于机器人移动方向的后方，由此可知，电子设备可以根据机器人的移动路径确定出基准线与机器人之间的相对方位，应理解，此处举例仅为证明本方案的可实现性，不用于限定本方案。进一步地，电子设备可以从步骤208中示出的式(1)中直接获取机器人相对于基准线的预期航向角，进而确定基准线相对于机器人的方位信息。
电子设备通过机器人上与目标方向范围对应的雷达/探测天线采集机器人第三目标范围内的第三点云数据，第三目标范围为机器人上与目标方向范围对应的雷达/探测天线的探测范围，电子设备根据采集到的第三点云数据，执行滤波和拟合操作，以得到基准线相对于机器人的位置信息，也即得到机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角，目标方向为与基准线垂直的方向。
为更直观地理解本方案，请参阅图10，图10为本申请实施例提供的机器人的位置校正方法中第一实际距离和第一航向角的一种示意图。D1代表基准线，D1中箭头的方向代表x轴的正方向，D2代表机器人与基准线之间的第一实际距离，D3代表机器人的当前移动方向，D4代表机器人相对于基准线的第一航向角，应理解，图10中的示例仅为方便理解本方案，不用于限定本方案。
211、电子设备根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。
本申请实施例中，由于机器人在执行任务的过程中是以预设速度移动，则电子设备根据机器人的规划路径和机器人的预设速度，获取机器人与基准线在目标方向上的预期距离，该预期距离与机器人的当前位置对应。进一步地，电子设备可以从步骤208中示出的式(1)中直接获取机器与基准线在目标方向上的预期距离。
电子设备根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以对机器人在目标方向上的距离进行校正，使得移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。
具体的，电子设备在对机器人在目标方向上的距离进行校正的同时，还会校正机器人的航向角，以使校正后的航向角与机器人与基准线之间的预期航向角一致。步骤211可以包括：电子设备根据预期距离和第一实际距离，计算机器人在目标方向上的第一误差距离，并根据第一航向角，控制机器人旋转，以使旋转后的机器人的第一移动方向与基准线垂直；第一移动方向可以为向基准线靠近的移动方向，也可以为远离基准线的方向。电子设备根据第一误差距离，控制机器人沿第一移动方向移动第一误差距离，也即控制机器人沿第一移动方向移动第一误差距离，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。在控制机器人沿第一移动方向移动第一误差距离之后，电子设备根据机器人的规划路径，控制机器人旋转，以将机器人相对于基准线的实际航向角旋转至预期航向角。
需要说明的是，此处“控制机器人沿第一移动方向移动第一误差距离”的含义是指电 子设备想要控制机器人沿第一移动方向移动第一误差距离，但实际情况中机器人可能沿第一移动方向移动第三实际距离，第三实际距离与第一误差距离大差值较小。
为更直观地理解本方案，请参阅图11，图11为本申请实施例提供的机器人的位置校正方法中预期距离、第一实际距离和第一航向角的一种示意图。图11可结合图10进行理解，D1代表基准线，D1中箭头的方向代表x轴的正方向，D2代表机器人与基准线之间的第一实际距离，E1代表代表机器人与基准线之间的预期距离，E2代表预期距离与第一实际距离之间的差值，也即第一误差距离，D3代表机器人的当前移动方向，D4代表机器人相对于基准线的第一航向角，E3代表机器人相对于基准线的预期航向，E4代表第一移动方向，也即电子设备控制机器人沿着E4指向的方向移动E2指向的距离，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离，应理解，图11中的示例仅为方便理解本方案，不用于限定本方案。
本申请实施例中，提供了利用基准线在所述目标方向上的预期距离、第一实际距离和第一航向角，对机器人在目标方向上的距离进行校正的具体实现方案，由于校正过程中，会先根据机器人相对于基准线的第一航向角，控制机器人旋转，以使旋转后的机器人的第一移动方向与基准线垂直，进而在校正了机器人在目标方向上的距离之后，再控制机器人运动时，需要将机器人旋转至机器人的预期航向角上，也即在校正机器人在目标方向上的距离的同时，还校正了机器人的航向角，保证了机器人移动路径的可规划性，从而保证机器人的移动路径能够全面覆盖整个目标物体。
本申请实施例中，由于雷达发出的电磁波能够穿透棉质物体或丝质物体，且雷达能够通过发出电磁波的方式测量机器人与基准线之间的实际距离和第一航向角，并根据机器人与基准线之间的预期距离、实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线之间的实际距离为预期距离，也即利用基准线采用相对定位技术来实现对机器人位置的校正，提供了一种机器人在移动过程中自动位置校正的方案；此外，本方案不仅可以应用于当机器人工作于棉质物体或丝质物体表面的场景中，而且还可以应用于机器人被棉质物体或丝质物体等覆盖的场景中，由于机器人并不是依赖采集周围环境进行定位，大大降低了工作环境对机器人移动过程的影响，进而大大扩展了机器人的应用场景。
在图1至图11所对应的实施例的基础上，为了更好的实施本申请实施例的上述方案，下面还提供用于实施上述方案的相关设备。具体参阅图12，图12为本申请实施例提供的位置校正装置的一种结构示意图。位置校正装置1200包括：获取模块1201，用于获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角，基准线为目标物体的一个边界线，目标方向为基准线的垂直方向，第一航向角为机器人的移动方向与基准线之间的夹角，目标物体为机器人执行任务相关的物体；控制模块1202，用于根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。需要说明的是，位置校正装置1200具体可以表现为配置于机器人中的处理器，也可以表现为整个机器人。
在一种可能的设计中，请参阅图13，图13为本申请实施例提供的位置校正装置的一 种结构示意图。控制模块1202包括计算子模块12021和控制子模块12022；其中，计算子模块12021，用于根据预期距离和第一实际距离，计算机器人在目标方向上的第一误差距离，并根据第一航向角，控制机器人旋转，以使旋转后的机器人的第一移动方向与基准线垂直；控制子模块12022，用于根据第一误差距离，控制机器人沿第一移动方向移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。
在一种可能的设计中，请参阅图13，装置1200还包括：采集模块1203，用于通过雷达采集机器人的目标范围内环境的第一点云数据，目标范围内环境包括雷达的当前探测范围中位于机器人前方的环境；控制模块1202，还用于在根据第一点云数据确定机器人的目标范围内周围环境中存在目标物体的边界线的情况下，控制机器人向目标物体的边界线移动，并在机器人向目标物体的边界线移动的过程中检测机器人是否位于目标物体的边缘区域，机器人从目标物体的边缘区域跌落的概率大于机器人从目标物体的非边缘区域跌落的概率；确定模块1204，用于在机器人与目标物体的边界线之间的距离小于第一阈值，且机器人未位于目标物体的边缘区域的情况下，将目标物体的边界线确定为基准线其中。
在一种可能的设计中，确定模块1204具体用于获取预先存储的至少一个第二点云数据，并获取第一点云数据与至少一个第二点云数据中每个第二点云数据之间的相似度，若至少一个第二点云数据中存在目标点云数据，则确定机器人的目标范围内周围环境中存在目标物体的边界线，目标点云数据与第一点云数据之间的相似度大于或等于预设相似度阈值；或者，确定模块1204具体用于对第一点云数据执行拟合操作，若第一点云数据的拟合结果为线性函数且线性函数的拟合误差小于预设误差阈值，则确定机器人的目标范围内周围环境中存在目标物体的边界线。
在一种可能的设计中，控制模块1202，还用于控制机器人沿基准线移动，当机器人移动至目标物体的边缘区域，控制机器人暂停移动；确定模块1204，还用于将机器人的当前位置点作为基准点，基准点为机器人执行任务时的起始点；获取模块1201，具体用于在机器人执行任务的过程中，获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角。
在一种可能的设计中，机器人执行任务过程中的移动路径为弓字形，弓字形的移动路径中包括第二移动方向和第三移动方向，第二移动方向与基准线平行，第三移动方向与基准线垂直。
在一种可能的设计中，获取模块1201，还用于通过雷达获取机器人与机器人下方的探测物之间的至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离；控制模块1202，具体用于在机器人向目标物体的边界线移动的过程中，通过雷达获取机器人与机器人下方的探测物之间的第二距离，并在根据目标距离和第二距离确定满足第一条件的情况下，确定机器人位于目标物体的边缘区域，第一条件指示第二距离与目标距离之间的差值大于或等于第二阈值。
在一种可能的设计中，获取模块1201，还用于在机器人执行任务的过程中，通过雷达获取机器人与机器人下方的探测物之间的第三距离；确定模块1204，还用于在根据目标距离和第三距离确定满足第一条件的情况下，确定机器人位于目标物体的边缘区域，控制机 器人改变移动方向。
需要说明的是，位置校正装置1200中各模块/单元之间的信息交互、执行过程等内容，与本申请中图2至图11对应的各个方法实施例基于同一构思，具体内容可参见本申请前述所示的方法实施例中的叙述，此处不再赘述。
本申请实施例还提供一种边缘区域的检测装置，请参阅图14，图14为本申请实施例提供的边缘区域的检测装置的一种结构示意图。边缘区域的检测装置1400包括：获取模块1401，用于获取至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离，第一距离为机器人移动之前，机器人与机器人下方的探测物之间的距离；获取模块1401，还用于获取第二距离，第二距离为机器人移动过程中，机器人与机器人下方的探测物之间的距离；确定模块1402，用于在根据目标距离和第二距离确定满足第一条件的情况下，确定机器人位于目标物体的边缘区域，其中，机器人从目标物体的边缘区域跌落的概率大于机器人从目标物体的非边缘区域跌落的概率，第一条件指示第二距离与目标距离之间的差值大于第一阈值，目标物体为机器人执行任务相关的物体。需要说明的是，边缘区域的检测装置1400具体可以表现为配置于机器人中的处理器，也可以表现为整个机器人。
在一种可能的设计中，请参阅图15，图15为本申请实施例提供的机器人的边缘区域的检测装置的一种结构示意图。边缘区域的检测装置1400还包括：采集模块1403，用于通过雷达采集机器人的目标范围内环境的第一点云数据，目标范围内环境包括雷达的当前探测范围中位于机器人前方的环境；控制模块1404，用于在根据第一点云数据确定机器人的目标范围内周围环境中存在目标物体的边界线的情况下，控制机器人向目标物体的边界线移动，机器人向目标物体的边界线移动的过程归属于机器人的移动过程；确定模块1402，还用于在机器人与目标物体的边界线之间的距离小于第一阈值，且机器人未位于目标物体的边缘区域的情况下，将目标物体的边界线确定为基准线，基准线用于在机器人执行任务的过程中辅助机器人进行定位。
需要说明的是，边缘区域的检测装置1400中各模块/单元之间的信息交互、执行过程等内容，与本申请中图2至图11对应的各个方法实施例基于同一构思，具体内容可参见本申请前述所示的方法实施例中的叙述，此处不再赘述。
本申请实施例还提供了一种电子设备，请参阅图16，图16为本申请实施例提供的电子设备的一种结构示意图，其中，电子设备1600上可以部署有图12或图13对应实施例中所描述的位置校正装置1200，或者，电子设备1600上可以部署有图14或图15对应实施例中所描述的边缘区域的检测装置1400。具体的，电子设备1600包括：接收器1601、发射器1602、处理器1603和存储器1604(其中电子设备1600中的处理器1603的数量可以一个或多个，图16中以一个处理器为例)，其中，处理器1603可以包括应用处理器16031和通信处理器16032。在本申请的一些实施例中，接收器1601、发射器1602、处理器1603和存储器1604可通过总线或其它方式连接。
存储器1604可以包括只读存储器和随机存取存储器，并向处理器1603提供指令和数据。存储器1604的一部分还可以包括非易失性随机存取存储器(non-volatile random access memory，NVRAM)。存储器1604存储有处理器和操作指令、可执行模块或者数据结构， 或者它们的子集，或者它们的扩展集，其中，操作指令可包括各种操作指令，用于实现各种操作。
处理器1603控制电子设备的操作。具体的应用中，电子设备的各个组件通过总线系统耦合在一起，其中总线系统除包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线等。但是为了清楚说明起见，在图中将各种总线都称为总线系统。
上述本申请实施例揭示的方法可以应用于处理器1603中，或者由处理器1603实现。处理器1603可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器1603中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器1603可以是通用处理器、数字信号处理器(digital signal processing，DSP)、微处理器或微控制器，还可进一步包括专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field-programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。该处理器1603可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1604，处理器1603读取存储器1604中的信息，结合其硬件完成上述方法的步骤。
接收器1601可用于接收输入的数字或字符信息，以及产生与电子设备的相关设置以及功能控制有关的信号输入。发射器1602可用于通过第一接口输出数字或字符信息；发射器1602还可用于通过第一接口向磁盘组发送指令，以修改磁盘组中的数据；发射器1602还可以包括显示屏等显示设备。
本申请实施例中，在一种情况下，应用处理器16031，用于执行图12或图13对应实施例中位置校正装置1200的功能。具体的，应用处理器16031用于执行如下步骤：
获取机器人与基准线在目标方向上的第一实际距离和机器人相对于基准线的第一航向角，基准线为目标物体的一个边界线，目标方向为基准线的垂直方向，第一航向角为机器人的移动方向与基准线之间的夹角，目标物体为机器人执行任务相关的物体；根据机器人与基准线在目标方向上的预期距离、第一实际距离和第一航向角，控制机器人移动，以使移动后的机器人与基准线在目标方向上的第二实际距离为预期距离。
需要说明的是，对于应用处理器16031执行图12或图13对应实施例中位置校正装置1200的具体实现方式以及带来的有益效果，均可以参考图2至图11对应的各个方法实施例中的叙述，此处不再一一赘述。
在一种情况下，应用处理器16031，用于执行图14或图15对应实施例中边缘区域的检测装置1400的功能。具体的，应用处理器16031用于执行如下步骤：
获取至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离，第一距离为机器人移动之前，机器人与机器人下方的探测物之间的距离；获取第二距离，第二距离为机器人移动过程中，机器人与机器人下方的探测物之间的距离；在根据目标距离 和第二距离确定满足第一条件的情况下，确定机器人位于目标物体的边缘区域，第一条件指示第二距离与目标距离之间的差值大于第一阈值，目标物体为机器人执行任务相关的物体。
需要说明的是，对于应用处理器16031执行图14或图15对应实施例中边缘区域的检测装置1400的功能的具体实现方式以及带来的有益效果，均可以参考图2至图11对应的各个方法实施例中的叙述，此处不再一一赘述。
本申请实施例中还提供一种计算机可读存储介质，该计算机可读存储介质中存储有程序，当其在计算机上运行时，使得计算机执行如上述图2至图11对应实施例中电子设备所执行的步骤。
本申请实施例中还提供一种包括计算机程序产品，当其在计算机上运行时，使得计算机执行如上述图2至图11对应实施例中电子设备所执行的步骤。
本申请实施例中还提供一种电路系统，所述电路系统包括处理电路，所述处理电路配置为执行如上述图2至图11对应实施例中电子设备所执行的步骤。
本申请实施例提供的电子设备或训练设备具体可以为芯片，芯片包括：处理单元和通信单元，所述处理单元例如可以是处理器，所述通信单元例如可以是输入/输出接口、管脚或电路等。该处理单元可执行存储单元存储的计算机执行指令，以使芯片执行上述图2至图11对应实施例中电子设备所执行的步骤。可选地，所述存储单元为所述芯片内的存储单元，如寄存器、缓存等，所述存储单元还可以是所述无线接入设备端内的位于所述芯片外部的存储单元，如只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)等。
其中，上述任一处提到的处理器，可以是一个通用中央处理器，微处理器，ASIC，或一个或多个用于控制上述第一方面方法的程序执行的集成电路。
另外需说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。另外，本申请提供的装置实施例附图中，模块之间的连接关系表示它们之间具有通信连接，具体可以实现为一条或多条通信总线或信号线。
通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到本申请可借助软件加必需的通用硬件的方式来实现，当然也可以通过专用硬件包括专用集成电路、专用CLU、专用存储器、专用元器件等来实现。一般情况下，凡由计算机程序完成的功能都可以很容易地用相应的硬件来实现，而且，用来实现同一功能的具体硬件结构也可以是多种多样的，例如模拟电路、数字电路或专用电路等。但是，对本申请而言更多情况下软件程序实现是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在可读取的存储介质中，如计算机的软盘、U盘、移动硬盘、ROM、RAM、磁碟或者光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施 例所述的方法。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。
所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘(Solid State Disk，SSD))等。

Claims (23)

  1. 一种机器人的位置校正方法，其特征在于，所述方法包括：
    获取所述机器人与基准线在目标方向上的第一实际距离和所述机器人相对于所述基准线的第一航向角，所述基准线为目标物体的一个边界线，所述目标方向为所述基准线的垂直方向，所述第一航向角为所述机器人的移动方向与所述基准线之间的夹角，所述目标物体为所述机器人执行任务相关的物体；
    根据所述机器人与所述基准线在所述目标方向上的预期距离、所述第一实际距离和所述第一航向角，控制所述机器人移动，以使移动后的机器人与所述基准线在所述目标方向上的第二实际距离为所述预期距离。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述机器人与所述基准线在所述目标方向上的预期距离、所述第一实际距离和所述第一航向角，控制所述机器人移动，以使移动后的机器人与所述基准线在所述目标方向上的第二实际距离为所述预期距离，包括：
    根据所述预期距离和所述第一实际距离，计算所述机器人在所述目标方向上的第一误差距离，并根据所述第一航向角，控制所述机器人旋转，以使旋转后的机器人的第一移动方向与所述基准线垂直；
    根据所述第一误差距离，控制所述机器人沿所述第一移动方向移动，以使移动后的机器人与所述基准线在所述目标方向上的第二实际距离为所述预期距离。
  3. 根据权利要求1或2所述的方法，其特征在于，所述获取所述机器人与基准线在目标方向上的第一实际距离和所述机器人相对于所述基准线的第一航向角之前，所述方法还包括：
    通过雷达采集所述机器人的目标范围内环境的第一点云数据，所述目标范围内环境包括雷达的当前探测范围中位于所述机器人前方的环境；
    在根据所述第一点云数据确定所述机器人的目标范围内周围环境中存在所述目标物体的边界线的情况下，控制所述机器人向所述所述目标物体的边界线移动，并在所述机器人向所述所述目标物体的边界线移动的过程中检测所述机器人是否位于所述目标物体的边缘区域，其中，所述机器人从所述目标物体的边缘区域跌落的概率大于所述机器人从所述目标物体的非边缘区域跌落的概率；
    在所述机器人与所述目标物体的边界线之间的距离小于第一阈值，且所述机器人未位于所述目标物体的边缘区域的情况下，将所述目标物体的边界线确定为所述基准线。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述第一点云数据确定所述机器人的目标范围内周围环境中存在目标物体的边界线，包括：
    获取预先存储的至少一个第二点云数据，并获取所述第一点云数据与至少一个第二点云数据中每个第二点云数据之间的相似度，若所述至少一个第二点云数据中存在目标点云数据，则确定所述机器人的目标范围内周围环境中存在所述目标物体的边界线，所述目标点云数据与所述第一点云数据之间的相似度大于或等于预设相似度阈值；或者，
    对所述第一点云数据执行拟合操作，若所述第一点云数据的拟合结果为线性函数且所 述线性函数的拟合误差小于预设误差阈值，则确定所述机器人的目标范围内周围环境中存在所述目标物体的边界线。
  5. 根据权利要求3所述的方法，其特征在于，所述获取所述机器人与基准线在目标方向上的第一实际距离和所述机器人相对于所述基准线的第一航向角之前，所述方法还包括：
    控制所述机器人沿所述基准线移动，当所述机器人移动至所述目标物体的边缘区域，控制所述机器人暂停移动；
    将所述机器人的当前位置点作为基准点，所述基准点为所述机器人执行所述任务时的起始点；
    所述获取所述机器人与基准线在目标方向上的第一实际距离和所述机器人相对于所述基准线的第一航向角，包括：
    在所述机器人执行所述任务的过程中，获取所述机器人与基准线在目标方向上的第一实际距离和所述机器人相对于所述基准线的第一航向角。
  6. 根据权利要求5所述的方法，其特征在于，所述机器人执行所述任务过程中的移动路径为弓字形，所述弓字形的移动路径中包括第二移动方向和第三移动方向，所述第二移动方向与所述基准线平行，所述第三移动方向与所述基准线垂直。
  7. 根据权利要求3所述的方法，其特征在于，所述控制所述机器人向所述目标物体的边界线移动之前，所述方法还包括：
    通过雷达获取机器人与所述机器人下方的探测物之间的至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离；
    所述在所述机器人向所述目标物体的边界线移动的过程中检测所述机器人是否位于所述目标物体的边缘区域，包括：
    在所述机器人向所述目标物体的边界线移动的过程中，通过所述雷达获取机器人与所述机器人下方的探测物之间的第二距离；
    在根据所述目标距离和所述第二距离确定满足第一条件的情况下，确定所述机器人位于所述目标物体的边缘区域，所述第一条件指示所述第二距离与所述目标距离之间的差值大于或等于第二阈值。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    在所述机器人执行任务的过程中，通过雷达获取机器人与所述机器人下方的探测物之间的第三距离；
    在根据所述目标距离和所述第三距离确定满足所述第一条件的情况下，确定所述机器人位于所述目标物体的边缘区域，控制所述机器人改变移动方向。
  9. 一种边缘区域的检测方法，其特征在于，所述方法包括：
    获取至少一个第一距离，并从所述至少一个第一距离中选取最大的距离作为目标距离，所述第一距离为所述机器人移动之前，所述机器人与所述机器人下方的探测物之间的距离；
    获取第二距离，所述第二距离为所述机器人移动过程中，所述机器人与所述机器人下方的探测物之间的距离；
    在根据所述目标距离和所述第二距离确定满足第一条件的情况下，确定所述机器人位 于目标物体的边缘区域，其中，所述目标物体为所述机器人执行任务相关的物体，所述机器人从所述目标物体的边缘区域跌落的概率大于所述机器人从所述目标物体的非边缘区域跌落的概率，所述第一条件指示所述第二距离与所述目标距离之间的差值大于第一阈值。
  10. 根据权利要求9所述的方法，其特征在于，所述在所述机器人的移动过程中，获取机器人与所述机器人下方的探测物之间的第二距离之前，所述方法还包括：
    通过雷达采集所述机器人的目标范围内环境的第一点云数据，所述目标范围内环境包括雷达的当前探测范围中位于所述机器人前方的环境；
    在根据所述第一点云数据确定所述机器人的目标范围内周围环境中存在所述目标物体的边界线的情况下，控制所述机器人向所述目标物体的边界线移动；
    所述方法还包括：
    在所述机器人与所述目标物体的边界线之间的距离小于第一阈值，且所述机器人未位于所述目标物体的边缘区域的情况下，将所述目标物体的边界线确定为基准线，所述基准线用于在所述机器人执行任务的过程中辅助所述机器人进行定位。
  11. 一种位置校正装置，其特征在于，所述装置包括：
    获取模块，用于获取所述机器人与基准线在目标方向上的第一实际距离和所述机器人相对于所述基准线的第一航向角，所述基准线为目标物体的一个边界线，所述目标方向为所述基准线的垂直方向，所述第一航向角为所述机器人的移动方向与所述基准线之间的夹角，所述目标物体为所述机器人执行任务相关的物体；
    控制模块，用于根据所述机器人与所述基准线在所述目标方向上的预期距离、所述第一实际距离和所述第一航向角，控制所述机器人移动，以使移动后的机器人与所述基准线在所述目标方向上的第二实际距离为所述预期距离。
  12. 根据权利要求11所述的装置，其特征在于，所述控制模块包括计算子模块和控制子模块；其中，
    所述计算子模块，用于根据所述预期距离和所述第一实际距离，计算所述机器人在所述目标方向上的第一误差距离，并根据所述第一航向角，控制所述机器人旋转，以使旋转后的机器人的第一移动方向与所述基准线垂直；
    所述控制子模块，用于根据所述第一误差距离，控制所述机器人沿所述第一移动方向移动，以使移动后的机器人与所述基准线在所述目标方向上的第二实际距离为所述预期距离。
  13. 根据权利要求11或12所述的装置，其特征在于，所述装置还包括：
    采集模块，用于通过雷达采集所述机器人的目标范围内环境的第一点云数据，所述目标范围内环境包括雷达的当前探测范围中位于所述机器人前方的环境；
    所述控制模块，还用于在根据所述第一点云数据确定所述机器人的目标范围内周围环境中存在目标物体的边界线的情况下，控制所述机器人向所述目标物体的边界线移动，并在所述机器人向所述目标物体的边界线移动的过程中检测所述机器人是否位于所述目标物体的边缘区域，其中，所述机器人从所述目标物体的边缘区域跌落的概率大于所述机器人从所述目标物体的非边缘区域跌落的概率；
    确定模块，用于在所述机器人与所述目标物体的边界线之间的距离小于第一阈值，且所述机器人未位于所述目标物体的边缘区域的情况下，将所述目标物体的边界线确定为所述基准线。
  14. 根据权利要求13所述的装置，其特征在于，
    所述确定模块具体用于获取预先存储的至少一个第二点云数据，并获取所述第一点云数据与至少一个第二点云数据中每个第二点云数据之间的相似度，若所述至少一个第二点云数据中存在目标点云数据，则确定所述机器人的目标范围内周围环境中存在所述目标物体的边界线，所述目标点云数据与所述第一点云数据之间的相似度大于或等于预设相似度阈值；或者，
    所述确定模块具体用于对所述第一点云数据执行拟合操作，若所述第一点云数据的拟合结果为线性函数且所述线性函数的拟合误差小于预设误差阈值，则确定所述机器人的目标范围内周围环境中存在所述目标物体的边界线。
  15. 根据权利要求13所述的装置，其特征在于，
    所述控制模块，还用于控制所述机器人沿所述基准线移动，当所述机器人移动至所述目标物体的边缘区域，控制所述机器人暂停移动；
    所述确定模块，还用于将所述机器人的当前位置点作为基准点，所述基准点为所述机器人执行任务时的起始点；
    所述获取模块，具体用于在所述机器人执行所述任务的过程中，获取所述机器人与基准线在目标方向上的第一实际距离和所述机器人相对于所述基准线的第一航向角。
  16. 根据权利要求15所述的装置，其特征在于，所述机器人执行所述任务过程中的移动路径为弓字形，所述弓字形的移动路径中包括第二移动方向和第三移动方向，所述第二移动方向与所述基准线平行，所述第三移动方向与所述基准线垂直。
  17. 根据权利要求13所述的装置，其特征在于，
    所述获取模块，还用于通过雷达获取机器人与所述机器人下方的探测物之间的至少一个第一距离，并从至少一个第一距离中选取最大的距离作为目标距离；
    所述控制模块，具体用于在所述机器人向所述目标物体的边界线移动的过程中，通过所述雷达获取机器人与所述机器人下方的探测物之间的第二距离，并在根据所述目标距离和所述第二距离确定满足第一条件的情况下，确定所述机器人位于所述目标物体的边缘区域，所述第一条件指示所述第二距离与所述目标距离之间的差值大于或等于第二阈值。
  18. 根据权利要求17所述的装置，其特征在于，
    所述获取模块，还用于在所述机器人执行任务的过程中，通过雷达获取机器人与所述机器人下方的探测物之间的第三距离；
    所述确定模块，还用于在根据所述目标距离和所述第三距离确定满足所述第一条件的情况下，确定所述机器人位于所述目标物体的边缘区域，控制所述机器人改变移动方向。
  19. 一种边缘区域的检测装置，其特征在于，所述装置包括：
    获取模块，用于获取至少一个第一距离，并从所述至少一个第一距离中选取最大的距离作为目标距离，所述第一距离为所述机器人移动之前，所述机器人与所述机器人下方的 探测物之间的距离；
    所述获取模块，还用于获取第二距离，所述第二距离为所述机器人移动过程中，所述机器人与所述机器人下方的探测物之间的距离；
    确定模块，用于在根据所述目标距离和所述第二距离确定满足第一条件的情况下，确定所述机器人位于所述目标物体的边缘区域，其中，所述目标物体为所述机器人执行任务相关的物体，所述机器人从所述目标物体的边缘区域跌落的概率大于所述机器人从所述目标物体的非边缘区域跌落的概率，所述第一条件指示所述第二距离与所述目标距离之间的差值大于第一阈值。
  20. 根据权利要求19所述的装置，其特征在于，所述装置还包括：
    采集模块，用于通过雷达采集所述机器人的目标范围内环境的第一点云数据，所述目标范围内环境包括雷达的当前探测范围中位于所述机器人前方的环境；
    控制模块，用于在根据所述第一点云数据确定所述机器人的目标范围内周围环境中存在所述目标物体的边界线的情况下，控制所述机器人向所述目标物体的边界线移动；
    所述确定模块，还用于在所述机器人与所述目标物体的边界线之间的距离小于第一阈值，且所述机器人未位于所述目标物体的边缘区域的情况下，将所述目标物体的边界线确定为基准线，所述基准线用于在所述机器人执行任务的过程中辅助所述机器人进行定位。
  21. 一种电子设备，其特征在于，包括处理器，所述处理器和存储器耦合，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时实现权利要求1至8中任一项所述的方法，或者，当所述存储器存储的程序指令被所述处理器执行时实现权利要求9或10所述的方法。
  22. 一种计算机可读存储介质，其特征在于，包括程序，当其在计算机上运行时，使得计算机执行如权利要求1至8中任一项所述机器人的位置校正方法执行的步骤，或者，使得计算机执行如权利要求9或10所述的方法。
  23. 一种电路系统，其特征在于，所述电路系统包括处理电路，所述处理电路配置为执行如权利要求1至8中任一项所述机器人的位置校正方法执行的步骤，或者，所述处理电路配置为执行如权利要求9或10所述的方法。
PCT/CN2021/141231 2020-12-31 2021-12-24 一种机器人的位置校正方法以及相关设备 Ceased WO2022143465A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21914202.3A EP4246269B1 (en) 2020-12-31 2021-12-24 Position correction method for robot, and related device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011632337.6A CN114690761B (zh) 2020-12-31 2020-12-31 一种机器人的位置校正方法以及相关设备
CN202011632337.6 2020-12-31

Publications (1)

Publication Number Publication Date
WO2022143465A1 true WO2022143465A1 (zh) 2022-07-07

Family

ID=82134426

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/141231 Ceased WO2022143465A1 (zh) 2020-12-31 2021-12-24 一种机器人的位置校正方法以及相关设备

Country Status (3)

Country Link
EP (1) EP4246269B1 (zh)
CN (1) CN114690761B (zh)
WO (1) WO2022143465A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115855044A (zh) * 2022-12-13 2023-03-28 国网福建省电力有限公司 一种机器人定位方法及系统
CN119444787A (zh) * 2024-09-12 2025-02-14 中国科学院地理科学与资源研究所 珊瑚岛礁滩沙边界进退距离确定和堤防工程选址方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20260028845A1 (en) * 2024-05-29 2026-01-29 Xingmai Innovation Technology (Suzhou) Co., Ltd Method for controlling cleaning device and cleaning device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100152944A1 (en) * 2008-12-11 2010-06-17 Kabushiki Kaisha Yaskawa Denki Robot system
CN106919171A (zh) * 2017-03-02 2017-07-04 安科智慧城市技术（中国）有限公司 一种机器人室内定位导航系统及方法
CN107450561A (zh) * 2017-09-18 2017-12-08 河南科技学院 移动机器人的自主路径规划与避障系统及其使用方法
KR20180084267A (ko) * 2017-01-16 2018-07-25 (주)아티스 환경의 기하학적 특징점을 이용한 지도 생성 및 위치 측정 방법 및 그 장치
CN109955246A (zh) * 2017-12-26 2019-07-02 深圳市优必选科技有限公司 悬崖检测方法、装置、终端设备及计算机可读存储介质
CN112000109A (zh) * 2020-09-10 2020-11-27 广西亚像科技有限责任公司 电力巡检机器人的位置校正方法、电力巡检机器人及介质

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050273967A1 (en) * 2004-03-11 2005-12-15 Taylor Charles E Robot vacuum with boundary cones
JP5241306B2 (ja) * 2008-04-24 2013-07-17 パナソニック株式会社 自律移動装置
US20120065829A1 (en) * 2010-09-15 2012-03-15 Jyh-Cheng Yu Wall-following Moving Device
EP2834048B1 (en) * 2012-09-21 2017-11-01 iRobot Corporation Proximity sensing on mobile robots
JP6666695B2 (ja) * 2015-11-16 2020-03-18 シャープ株式会社 自走式電子機器および自走式電子機器の走行方法
CN109186463B (zh) * 2018-09-04 2021-12-07 浙江梧斯源通信科技股份有限公司 应用于可移动机器人的防跌落方法
CN109464075A (zh) * 2018-12-07 2019-03-15 江苏美的清洁电器股份有限公司 扫地机器人的清扫控制方法及其装置和扫地机器人
CN210871441U (zh) * 2019-10-14 2020-06-30 北京市育英学校 一种旅行用对床清洁机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100152944A1 (en) * 2008-12-11 2010-06-17 Kabushiki Kaisha Yaskawa Denki Robot system
KR20180084267A (ko) * 2017-01-16 2018-07-25 (주)아티스 환경의 기하학적 특징점을 이용한 지도 생성 및 위치 측정 방법 및 그 장치
CN106919171A (zh) * 2017-03-02 2017-07-04 安科智慧城市技术（中国）有限公司 一种机器人室内定位导航系统及方法
CN107450561A (zh) * 2017-09-18 2017-12-08 河南科技学院 移动机器人的自主路径规划与避障系统及其使用方法
CN109955246A (zh) * 2017-12-26 2019-07-02 深圳市优必选科技有限公司 悬崖检测方法、装置、终端设备及计算机可读存储介质
CN112000109A (zh) * 2020-09-10 2020-11-27 广西亚像科技有限责任公司 电力巡检机器人的位置校正方法、电力巡检机器人及介质

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4246269A4

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115855044A (zh) * 2022-12-13 2023-03-28 国网福建省电力有限公司 一种机器人定位方法及系统
CN119444787A (zh) * 2024-09-12 2025-02-14 中国科学院地理科学与资源研究所 珊瑚岛礁滩沙边界进退距离确定和堤防工程选址方法

Also Published As

Publication number Publication date
CN114690761A (zh) 2022-07-01
CN114690761B (zh) 2025-12-05
EP4246269B1 (en) 2026-03-11
EP4246269A1 (en) 2023-09-20
EP4246269A4 (en) 2024-07-24

Similar Documents

Publication Publication Date Title
WO2022143465A1 (zh) 一种机器人的位置校正方法以及相关设备
US11385653B2 (en) Mobile robot area cleaning
JP6949107B2 (ja) 経路を自律走行するようにロボットを訓練するためのシステムおよび方法
CN103099583B (zh) 机器人吸尘器及其控制方法
EP2888603B1 (en) Robot positioning system
EP3711647A1 (en) Self-propelled vacuum cleaner
CN110753517A (zh) 基于概率映射的超声扫描
JP2019015706A (ja) 撮像装置及びモニタリング装置
US20210131805A1 (en) Method for Determining the Orientation of a Robot, Orientation Determination Apparatus of a Robot, and Robot
JP2017503267A (ja) 自律移動ロボット
CN112051844A (zh) 自移动机器人及其控制方法
CN111726591B (zh) 地图更新方法、装置、存储介质及电子设备
CN116069004A (zh) 自移动设备、自移动设备的障碍物边缘确定方法及介质
CN115167449A (zh) 一种障碍物检测方法、装置、可读存储介质及移动机器人
CN114098963A (zh) 一种基于毫米波导航的手术机器人定位系统
CN115616522B (zh) 应用于激光雷达的点云处理方法、装置及激光雷达
WO2024125318A1 (zh) 一种机器人检测地毯的方法、避障方法、机器人和芯片
CN106406298A (zh) 清洁装置及其控制方法
CN109188413B (zh) 虚拟现实设备的定位方法、装置和系统
CN118210302A (zh) 用于自主移动设备的检测方法、自主移动设备和存储介质
CN113894845A (zh) 机器人及其边扫转速测量方法、装置、存储介质
HK40105748A (zh) 用於自主移动设备的检测方法、自主移动设备和存储介质
CN111610783A (zh) 自主机器人的行进控制方法、自主机器人及存储介质
CN111481108A (zh) 扫地机重定位方法及装置
WO2020110574A1 (ja) 制御装置、制御方法及びプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21914202

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021914202

Country of ref document: EP

Effective date: 20230614

NENP Non-entry into the national phase

Ref country code: DE

WWG Wipo information: grant in national office

Ref document number: 2021914202

Country of ref document: EP