CN109375626B - Location code sticking method, device, computer equipment and storage medium - Google Patents

Abstract

The present application relates to a method for attaching a positioning code. When adjusting the robot to the preset posture at the grid node, paste the setting code at the current grid node. The present application also relates to another positioning code sticking method, comprising: searching for a positioning code from a reference positioning code, determining a first predicted pose of the robot according to a path from the reference positioning code to the searched positioning code, and determining a first predicted pose of the robot according to the searched positioning code. Determine the second predicted pose of the positioning code based on the relative relationship between the positioning code and the robot and the first predicted pose, and correct the second predicted pose of the searched positioning code according to the reference positioning code. The positioning codes that are different between the poses and the standard poses represented by the corresponding positioning codes are re-posted according to the standard poses. Using the solution of the present application can improve the pose accuracy of the positioning code.

Description

Location code sticking method, device, computer equipment and storage medium

technical field

The present application relates to the technical field of mobile robots, and in particular, to a method, device, computer equipment and storage medium for attaching a positioning code.

Background technique

With the development of mobile robot technology, the robot scans the positioning code to move forward and determine the position, carry out positioning and navigation, and complete the handling of goods. The positioning code is an identification code used to assist the mobile robot in positioning and determining the direction of travel during the walking process.

Due to the traditional warehouse navigation, it is necessary to carry out ground transformation in advance and deploy positioning codes on the ground. This method requires a lot of manual work in the early stage, and the positioning code is manually pasted, which is difficult to achieve very accurate, resulting in a low position and orientation accuracy of the positioning code.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a positioning code sticking method, device, computer equipment and storage medium in response to the above technical problems.

A positioning code sticking method, applied to a robot, the method comprising:

Proceed to the grid node of the ray grid;

Determines the direction of the rays received at the mesh nodes, the rays belong to the ray mesh;

According to the direction of the light, adjust the robot to the preset posture;

Whenever the robot is adjusted to the preset posture at the grid node, the setting code is pasted at the current grid node.

In one embodiment, the method further includes:

Search the positioning code from the reference positioning code;

Determine the first predicted pose of the robot according to the path from the reference positioning code to the searched positioning code;

Determine the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose;

Correct the second predicted pose of the searched positioning code according to the reference positioning code;

For the positioning code that is different between the corrected second predicted pose and the standard pose represented by the corresponding positioning code, it is re-posted according to the standard pose.

In one of the embodiments, correcting the second predicted pose of the searched positioning code according to the reference positioning code includes:

After searching back to the reference positioning code, the deviation between the actual pose of the reference positioning code and the current second predicted pose is determined. When the deviation exceeds the first preset range, then

The second predicted pose of the searched positioning code is corrected according to the current deviation, and the step of searching for the positioning code from the reference positioning code is continued until the search is stopped when the deviation is within the first preset range.

In one embodiment, the method further includes:

Obtain standard route information, which carries standard location code information and standard location information of the location code on the corresponding route;

Follow the posted positioning code;

When traveling to the position indicated by the standard position information and the standard positioning code information of the corresponding positioning code is not collected from the position, the positioning code error information for reporting is generated.

In one embodiment, when traveling to the position indicated by the standard position information and the standard positioning code information of the corresponding positioning code is not collected from the position, generating the positioning code error information for reporting includes:

When traveling to the location indicated by the standard location information and the location code information of the location code collected at the location is inconsistent with the standard location code information corresponding to the standard location information, generate the location code first error message for reporting; or ,

When traveling to the location indicated by the standard location information and no location code information of the location code is collected at the location, the second error message of the location code for reporting is generated.

In one embodiment, the method further includes:

When the location code error information reported corresponding to the same location code reaches a preset number of times, obtain a location code replacement instruction;

The positioning code at the corresponding position is replaced according to the replacement instruction, and the replaced positioning code is used to represent the standard positioning code information.

In one embodiment, the replacement of the positioning code on the corresponding position according to the replacement instruction includes:

Obtain the random location code according to the replacement instruction;

Replace the positioning code on the corresponding position with a random positioning code;

The random location code information of the random location code is sent to the server, and the random location code information is used to instruct the server to establish a mapping from the random location code information to the standard location code information.

A positioning code sticking device, the device comprises:

The travel module is used to control the robot to travel to the grid node of the ray grid;

The direction determination module is used to determine the direction of the light received at the grid node, and the light belongs to the light grid;

The adjustment module is used to adjust the robot to the preset posture according to the direction of the light;

The sticking module is used to stick the setting code on the current grid node whenever the robot is adjusted to the preset posture at the grid node.

A computer device, comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:

Proceed to the grid node of the ray grid;

Determines the direction of the rays received at the mesh nodes, the rays belong to the ray mesh;

According to the direction of the light, adjust the robot to the preset posture;

Whenever the robot is adjusted to the preset posture at the grid node, the setting code is pasted at the current grid node.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Proceed to the grid node of the ray grid;

Determines the direction of the rays received at the mesh nodes, the rays belong to the ray mesh;

According to the direction of the light, adjust the robot to the preset posture;

Whenever the robot is adjusted to the preset posture at the grid node, the setting code is pasted at the current grid node.

The above-mentioned positioning code sticking method, device, computer equipment and storage medium use the light grid to realize the precise positioning of the robot, and use the light direction of the light grid to adjust the posture of the robot, so that the robot is at the grid node and in a preset posture When the positioning code is installed, it is more accurate and efficient than manual installation, and the pose accuracy of the positioning code is improved.

A positioning code sticking method, applied to a robot, the method comprising:

Search the positioning code from the reference positioning code;

Determine the first predicted pose of the robot according to the path from the reference positioning code to the searched positioning code;

Determine the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose;

Correct the second predicted pose of the searched positioning code according to the reference positioning code;

For the positioning code that is different between the corrected second predicted pose and the standard pose represented by the corresponding positioning code, it is re-posted according to the standard pose.

In one of the embodiments, correcting the second predicted pose of the searched positioning code according to the reference positioning code includes:

After searching back to the reference positioning code, the deviation between the actual pose of the reference positioning code and the current second predicted pose is determined. When the deviation exceeds the first preset range, then

The second predicted pose of the searched positioning code is corrected according to the current deviation, and the step of searching for the positioning code from the reference positioning code is continued until the search is stopped when the deviation is within the first preset range.

A positioning code sticking device, the device comprises:

The search module is used to search the positioning code from the reference positioning code;

determining the first pose module, for determining the first predicted pose of the robot according to the path from the reference positioning code to the searched positioning code;

determining the second pose module, and determining the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose;

a correction module, used for correcting the second predicted pose of the searched positioning code according to the reference positioning code;

The reposting module is used for reposting the positioning codes with differences between the corrected second predicted postures and the standard postures represented by the corresponding positioning codes according to the standard postures.

A computer device, comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:

Search the positioning code from the reference positioning code;

Determine the first predicted pose of the robot according to the path from the reference positioning code to the searched positioning code;

Determine the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose;

Correct the second predicted pose of the searched positioning code according to the reference positioning code;

For the positioning code that is different between the corrected second predicted pose and the standard pose represented by the corresponding positioning code, it is re-posted according to the standard pose.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Search the positioning code from the reference positioning code;

Determine the first predicted pose of the robot according to the path from the reference positioning code to the searched positioning code;

Determine the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose;

Correct the second predicted pose of the searched positioning code according to the reference positioning code;

For the positioning code that is different between the corrected second predicted pose and the standard pose represented by the corresponding positioning code, it is re-posted according to the standard pose.

The above-mentioned positioning code sticking method, device, computer equipment and storage medium, take the reference positioning code as a benchmark, correct the second predicted pose of the searched positioning code, and compare the corrected second predicted pose and the searched positioning code. The positioning codes with differences between the represented standard poses are re-attached, so that the positioning codes with inaccurate poses can achieve accurate poses, and the pose accuracy of the positioning codes is improved.

Description of drawings

1 is an application environment diagram of a positioning code sticking method in one embodiment;

2 is a schematic flowchart of a method for affixing a positioning code in an embodiment;

3 is a schematic flowchart of reposting a positioning code with an incorrect pose in one embodiment;

4 is a schematic flowchart of the steps of detecting a positioning code error and generating positioning code error information for reporting in one embodiment;

5 is a schematic flow chart of replacing an error location code in one embodiment;

6 is a structural block diagram of a positioning code sticking device in one embodiment;

7 is a structural block diagram of a positioning code sticking device in another embodiment;

FIG. 8 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

The positioning code sticking method provided by the present application can be applied to the application environment shown in FIG. 1 . Wherein, the light transmitter 104 controls the robot 102 through the light, and the robot 102 can communicate with the server 106 through the network through the network. Specifically, the light emitter 104 emits light to the light receiver 108 provided by the robot 102 to control the robot 102 to travel to the grid node of the light grid, and the robot 102 determines the light emitted by the light transmitter 104 received at the grid node. The direction of the light, after the light receiver 108 of the robot 102 adjusts the posture of the robot 102 to a preset posture according to the direction of the light, the robot 102 starts to paste the set position code on the ground. The positioning code is an identification code that carries position information, which can be used for positioning and determination of the traveling direction of the mobile robot during the walking process; the identification code can be a barcode, a two-dimensional code, an RFID tag, and the like. The robot 102 travels according to the posted positioning code, and takes the standard route information as the standard. When the robot 102 travels to the position indicated by the standard position information, and the standard positioning code information of the corresponding positioning code is not collected from the position, the robot 102 The location code error information for reporting is generated to the server 106 . The grid node may represent an intersection formed by the intersection of two or more light rays, the light emitter may be a laser transmitter, and the emitted light may be a laser.

When the location code error information reported corresponding to the same location code reaches a preset number of times, the server 106 may notify the robot 102, and the robot 102 obtains the location code replacement instruction; When the robot 102 replaces the location code at the location corresponding to the error information with the random location code, the robot 102 sends the random location code information of the random location code to the server 106, and the random location code information is used to instruct the server 106 to establish the random location code information to the standard. Mapping of location code information. It can be understood that the server 106 may also notify the staff or other robots to replace the positioning code. The server 106 may be implemented by an independent server or a server cluster composed of multiple servers.

In one embodiment, as shown in FIG. 2 , a method for attaching a positioning code is provided. Taking the method applied to the robot in FIG. 1 as an example, the method includes the following steps:

Step 202, proceed to the grid node of the ray grid.

Specifically, light receivers may be set at different orientations of the robot, and the light received by each light receiver for composing the light grid is used for navigation, so as to travel to the grid nodes of the light grid.

There can be multiple light receivers set on the robot. Going to the grid node may specifically be traveling to the grid node along the direction of the light rays that make up the light grid, or traveling to the grid node according to a preset path, for example, proceeding to the light rays in turn along a spiral route. at each grid node of the grid. The rays that make up the ray grid can be in the same horizontal plane. A grid node can be formed by rays along two mutually perpendicular axes, and the rays in each axis can be unidirectionally emitted or bidirectionally opposed.

Step 204: Determine the direction of the light received at the grid node, where the light belongs to the light grid.

Specifically, when the robot travels to a grid node, the currently received light belonging to the ray grid is determined at the grid node, and the relative deviation direction of the light from the robot's current posture is determined. The light rays belonging to the network line grid received by the robot at the grid node may be two or more lines.

Step 206, according to the direction of the light, adjust the robot to a preset posture.

Specifically, the posture of the robot is adjusted according to the relative deviation direction of the light received by the light receiver and the current posture of the robot. When the robot's posture is adjusted to the preset posture, stop the adjustment.

In one embodiment, the light receivers on the robot can be arranged symmetrically along the center of the robot, and the robot can receive light through the symmetrically arranged light receivers, so as to adjust the direction of the light received by the symmetrically arranged light receivers. attitude. When the rays received by the light receivers arranged symmetrically on the two mutually perpendicular axes respectively coincide with the straight lines where the light receivers arranged symmetrically on the corresponding axes are located, it can be determined that the robot is adjusted to the preset posture. The light received by the symmetrically arranged light receivers is the light on two different axes that are perpendicular to each other.

Step 208: Whenever the robot is adjusted to a preset posture at the grid node, a setting code is posted at the current grid node.

Specifically, the robot is located at the grid node, and after the robot's posture is adjusted according to the received light to reach the preset posture, the robot pastes the set position code at the grid node according to the preset posture. Wherein, the positioning code may be, but not limited to, a two-dimensional code, a barcode, etc., and the color and shape of the positioning code may be arbitrary.

The above positioning code sticking method uses the light grid to realize the precise positioning of the robot, and uses the light direction of the light grid to adjust the posture of the robot, so that the robot is placed at the grid node and in the preset posture. Compared with manual sticking, it is more accurate and efficient, and improves the pose accuracy of the positioning code.

As shown in FIG. 3 , in one embodiment, the above-mentioned positioning code sticking method further includes the step of re-sticking the positioning code with wrong pose, and this step specifically includes the following steps:

Step 302, searching for the positioning code from the reference positioning code.

Specifically, the robot takes the reference positioning code as the starting point, and can search for the positioning code randomly or according to a preset path on the ground. Among them, the actual pose of the reference positioning code is in an absolutely accurate pose, and the robot starts to search for the positioning code on the ground based on the actual pose of the reference positioning code. The pose of the positioning code includes the position and/or attitude of the positioning code. The preset path can be a spiral path or a serpentine path.

Step 304: Determine the first predicted pose of the robot according to the path from the reference positioning code to the searched positioning code.

The first predicted pose is the pose of the robot calculated based on the reference positioning code and the path of the robot.

Specifically, when the positioning code on the ground is searched, the first predicted pose of the robot is determined according to the path traveled from the reference positioning code to the searched positioning code.

Step 306: Determine the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose.

The second predicted pose is the pose of the searched positioning code calculated based on the first predicted pose of the robot and the relative relationship between the searched positioning code and the robot.

Specifically, the relative relationship between the searched positioning code and the robot itself is determined according to the camera provided in the robot, and then the second predicted pose of the searched positioning code is determined according to the relative relationship and the first predicted pose.

Further, the robot can take the center position of the camera provided by the robot as the origin, determine the relative position deviation between the position of the pixel point in the center of the searched positioning code and the center position of the camera provided by the robot, and use the relative position deviation to represent the search. The relative relationship between the positioning code and the robot is obtained, and then the second predicted pose of the searched positioning code is determined according to the relative position deviation and the first predicted pose.

For example: Assuming that the length of the relative position deviation is 3 pixels, it can be converted into the length in the real scene according to the conversion ratio of the pixels in the current scene, so that according to the converted length and the direction of the relative position deviation, combined with the first One predicted pose, and finally the second predicted pose is determined.

Step 308, correcting the second predicted pose of the searched positioning code according to the reference positioning code.

Specifically, the reference positioning code is a positioning code with an absolute standard of pose, and the robot can correct the second predicted pose of the searched positioning code based on the standard pose of the reference positioning code. It can be understood that the robot can directly correct the second predicted pose according to the deviation between the actual pose of the reference positioning code and the current second predicted pose, or can also correct the second predicted pose according to the actual pose of the reference positioning code and the current second predicted pose. The deviation between the poses modifies the first predicted pose to indirectly modify the corresponding second predicted pose. There may be multiple reference positioning codes in this embodiment, and the more reference positioning codes, the higher the accuracy of the second predicted pose of the corrected positioning code.

In one embodiment, the robot may pass through the reference positioning code multiple times, and correct the second predicted pose of the searched positioning code each time it passes the reference positioning code, and stop the correction until the stop condition is satisfied. The stopping condition may be that the number of times of passing the reference positioning code reaches a preset number of times, or that the deviation between the first predicted poses of the respectively determined reference positioning code when passing the reference positioning code twice in a row is smaller than the preset deviation.

Step 310 , for the positioning codes that are different between the corrected second predicted pose and the standard poses represented by the corresponding positioning codes, re-install them according to the standard poses.

Specifically, after the second predicted pose of the searched positioning code is modified, the corrected second predicted pose is compared with the standard pose represented by the corresponding searched positioning code to obtain a comparison result If there is a difference in the positioning code, the positioning code is re-posted according to the standard pose of the positioning code. The standard pose refers to a standard pose obtained by scanning the searched positioning code, and the standard pose is the standard pose of the scanned positioning code. It can be understood that the positioning code information in the searched positioning code carries the corresponding standard pose.

In one embodiment, the location codes with differences in the comparison result may be uploaded to the server, and the server is instructed to send a repost request to other robots. Other robots, according to the repost request, for the location codes with differences in the comparison result, according to the location code The positioning code is re-posted according to the standard pose of the code.

In the above-mentioned embodiment, the reference positioning code is used as a reference to correct the second predicted pose of the searched positioning code. The positioning code is re-attached, so that the positioning code with inaccurate pose can achieve an accurate pose, which further improves the pose accuracy of the positioning code.

In one embodiment, correcting the second predicted pose of the searched positioning code according to the reference positioning code includes the following steps: when the search returns to the reference positioning code, and the current second predicted pose and the actual value of the reference positioning code When the deviation between the poses exceeds the first preset range, the second predicted pose of the searched positioning code is corrected according to the current deviation, and the step of searching for the positioning code from the reference positioning code is continued until the deviation is within Stop searching when it is within the first preset range.

The first preset range may be a specific value or a numerical range. In this embodiment, by presetting the first preset range, when the search returns to the reference positioning code, and the deviation between the current second predicted pose and the actual pose of the reference positioning code exceeds this preset range, It shows that the judgment of the second predicted position of the searched positioning code is wrong, so after correcting the second predicted position according to this deviation, the step of searching for the positioning code from the reference positioning code is returned to. Until the deviation between the current second predicted pose and the actual pose falls within the first preset range when the search returns to the reference positioning code, the search is stopped, so that the result of checking the positioning code with different poses is more accurate, It provides a more accurate basis for the subsequent steps of re-attaching the positioning codes with different poses.

As shown in Figure 4, in one embodiment, the above-mentioned method for attaching a positioning code further includes a step of detecting a positioning code error and generating a positioning code error message for reporting, and the step specifically includes the following steps:

Step 402: Acquire standard route information, where the standard route information carries standard location code information and standard location information of the location code on the corresponding route.

The standard route information is information describing the standard route planned for the robot in advance. The standard route information carries standard positioning code information and standard location information. The location code information refers to information that can be obtained by scanning the location code, and is used to identify the location code. The standard location code information in this embodiment represents the location code information that should be included in the location code passed by the standard route. The location information specifies the location parameters of the bit code, such as the coordinate information of the location code. The standard location information in this embodiment represents the location where the corresponding location code should be located on the standard route. Standard route information can be pre-stored in the robot or pulled from the server by the robot.

Step 404, proceed according to the posted positioning code.

Specifically, the robot obtains the positioning code information contained in the positioning code by scanning and parsing the positioning code on the ground. The positioning code information includes the robot traveling instruction information, and the robot travels according to the robot traveling instruction information. The travel instruction information may only include direction information for indicating the traveling direction of the robot, and may also include position information for indicating the position of the robot.

Step 406 , when traveling to the location indicated by the standard location information and the standard location code information of the corresponding location code is not collected from the location, generate location code error information for reporting.

Specifically, when the robot advances to the position indicated by the standard position information by scanning the positioning code on the ground, and the standard positioning code information of the corresponding positioning code is not collected from the position, the positioning code error information for reporting is generated. The robot uploads the location code error information to the server, and other robots can obtain the location code error information through the server.

It can be understood that the robot reports the error information of the positioning code to the server, and it can directly find the standard positioning code information of the corresponding positioning code when it travels to the position indicated by the standard position information and does not collect the standard positioning code information from the position. Report the location code error information to the server, or report the location code error information of each location to the server after completing the entire route.

In one embodiment, when traveling to the location indicated by the standard location information, and the location code information of the location code collected at the location is inconsistent with the standard location code information corresponding to the standard location information, it represents an error in the route, and generates a The first error message of the reported positioning code; or because the positioning code is exposed for a long time, the positioning code is ambiguous, when the robot travels to the position indicated by the standard position information, and no positioning code is collected at the position. When the code information is received, the second error information of the positioning code for reporting is generated.

In the above-mentioned embodiment, by scanning the positioning code posted on the ground to move forward, the standard route information is used as the standard to check the positioning code with wrong position or vague information, so that other robots or staff can understand the situation in time and correct it, so as to prevent due to positioning. Code position error or blurred information affects the operation of other robots.

In one embodiment, the above positioning code sticking method further includes: when the error information of the positioning code reported corresponding to the same positioning code reaches a preset number of times, acquiring a positioning code replacement instruction, and performing a positioning code replacement instruction on the corresponding position according to the replacement instruction. Replace, and the replaced positioning code is used to represent the standard positioning code information.

In this embodiment, when the positioning code on the position is replaced according to the replacement instruction, it can be replaced with the original code or with the random code. Taking the replacement with the random positioning code as an example, as shown in FIG. 5 , it is assumed that the robot is moving After completing the entire route, report the location code error information of each location uniformly, the specific steps are as follows:

Step 502: Acquire standard route information, where the standard route information carries standard location code information and standard location information of the location code on the corresponding route.

Step 504, proceed according to the positioning code posted on the ground.

Step 506: After traveling the entire route, it is judged whether the corresponding location code is scanned at each location code position according to the standard route information.

Specifically, after the robot walks the entire route according to the positioning code posted on the ground, and finds that every positioning code on the standard route information has been scanned, it means that the positioning code is correct, and the detection ends. Step 508 is entered when the robot finds that there is a positioning code with an incorrect positioning code detected after scanning the positioning code posted on the ground to complete the entire route.

Step 508, reporting the location code error information to the server.

Specifically, the robot reports the location codes that have detected errors to the server, so that other robots can obtain error information through the server.

Step 510, when the reported location code error information corresponding to the same location code reaches a preset number of times, obtain a location code replacement instruction.

Step 512 , according to the replacement instruction, use the original code to replace the positioning code at the position corresponding to the error message.

Step 514 , according to the replacement instruction, use the random positioning code to replace the positioning code at the position corresponding to the error information.

In this embodiment, when the error information of the same location code reaches a preset number, the location code corresponding to the error information is replaced, which not only ensures the accuracy of the location code error information, but also prevents the location code from being incorrectly located or the information is ambiguous. Affect the operation of other robots.

In one embodiment, the location code at the location corresponding to the error information is replaced with a random location code, and the replacement of the location code at the location according to the replacement instruction includes the following steps: obtaining the random location code according to the replacement instruction, and replacing the location code at the location. The location code is a random location code, and the random location code information of the random location code is sent to the server, and the random location code information is used to instruct the server to establish a mapping from the random location code information to the standard location code information.

In this embodiment, by replacing the original code with the random locating code, the method of replacing the locating code is more convenient, and by sending the random locating code information of the random locating code to the server, the server establishes the mapping of the random locating code information to the standard locating code information. In this way, the standard positioning code information can be found according to the random code, so as to prevent the loss of the standard positioning code information due to the random positioning code.

It should be understood that although the steps in the flowcharts of FIGS. 1-5 are shown in sequence according to the arrows, these steps are not necessarily executed in the sequence shown by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIGS. 1-5 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. These sub-steps or stages are not necessarily completed at the same time. The order of execution of the steps is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of sub-steps or stages of other steps.

In one embodiment, as shown in Figure 6, there is provided a positioning code attaching device 600, the device 600 includes a traveling module 602, a direction determination module 604, an adjustment module 606 and an attaching module 608, wherein:

The traveling module 602 is used to control the robot to travel to the grid node of the ray grid.

A direction determining module 604 is configured to determine the direction of the light received at the grid node, where the light belongs to the light grid.

The adjustment module 606 is used to adjust the robot to a preset posture according to the direction of the light.

The sticking module 608 is used for sticking a setting code on the current grid node whenever the robot is adjusted to a preset posture at the grid node.

In one embodiment, the above-mentioned apparatus further includes: a search module, a module for determining a first pose, a module for determining a second pose, a correction module, and a reposting module. The search module is used to search the positioning code from the reference positioning code; the first attitude module is used to determine the corresponding first predicted pose according to the path from the reference positioning code to the searched positioning code; determine the second position The attitude module is used to determine the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose; the correction module is used to correct the searched positioning code according to the reference positioning code. The re-posting module is used for re-posting the positioning codes with differences between the corrected second predicted postures and the standard postures represented by the corresponding positioning codes according to the standard postures.

In one embodiment, the correction module is further configured to determine the deviation between the actual pose of the reference positioning code and the current second predicted pose after searching back to the reference positioning code, when the deviation exceeds the first preset range , the second predicted pose of the searched positioning code is corrected according to the current deviation, and the step of searching for the positioning code from the reference positioning code is continued until the search is stopped when the deviation is within the first preset range.

In one embodiment, the above-mentioned apparatus further includes: a standard route obtaining module, a scanning module and an error reporting module. The standard route acquisition module is used to obtain standard route information. The standard route information carries the standard positioning code information and standard location information of the positioning code on the corresponding route; the scanning module is used to travel according to the posted positioning code; the error reporting module is used When traveling to the position indicated by the standard position information and the standard positioning code information of the corresponding positioning code is not collected from the position, the positioning code error information for reporting is generated.

In one embodiment, the error reporting module is further configured to, when traveling to the location indicated by the standard location information, and when the location code information of the location code collected at the location is inconsistent with the standard location code information corresponding to the standard location information, generate The first error information of the positioning code used for reporting; or when traveling to the position indicated by the standard position information and no positioning code information of the positioning code is collected at the position, the second error of the positioning code used for reporting is generated information.

In one embodiment, the above-mentioned apparatus further includes: a replacement instruction acquisition module and a replacement module. The replacement instruction acquisition module is used to obtain a positioning code replacement instruction when the reported positioning code error information corresponding to the same positioning code reaches a preset number of times; the replacement module is used to replace the positioning code at the corresponding position according to the replacement instruction, and The replaced positioning code is used to represent the standard positioning code information.

In one embodiment, the replacement module is further configured to obtain a random location code according to the replacement instruction, replace the location code at the corresponding position with a random location code, and send the random location code information of the random location code to the server, and the random location code information is used for Instructs the server to create a mapping from random location code information to standard location code information.

For the specific limitation of the above positioning code sticking device, please refer to the limitation on the positioning code sticking method above, which will not be repeated here. All or part of the modules in the above positioning code sticking device can be implemented by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, as shown in FIG. 3 , another method for attaching a positioning code is also provided, which is described by taking the method applied to the robot in FIG. 1 as an example, including the following steps:

Step 302, searching for the positioning code from the reference positioning code.

Specifically, the robot takes the reference positioning code as a starting point, and searches for the positioning code on the ground randomly or according to a preset path. Among them, the actual pose of the reference positioning code is in an absolutely accurate pose, and the robot starts to search for the positioning code on the ground based on the actual pose of the reference positioning code. The pose of the positioning code includes the position and/or attitude of the positioning code. The preset path can be a spiral path or a serpentine path.

Step 304: Determine the first predicted pose of the robot according to the path from the reference positioning code to the searched positioning code.

The first predicted pose is the pose of the robot calculated based on the reference positioning code and the path of the robot.

Specifically, when the positioning code on the ground is searched, the first predicted pose of the robot is determined according to the path traveled from the reference positioning code to the searched positioning code.

Step 306: Determine the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose.

The second predicted pose is the pose of the searched positioning code calculated based on the first predicted pose of the robot and the relative relationship between the searched positioning code and the robot.

Specifically, the relative relationship between the searched positioning code and the robot itself is determined according to the camera provided in the robot, and then the second predicted pose of the searched positioning code is determined according to the relative relationship and the first predicted pose.

Further, the robot can take the center position of the camera provided by the robot as the origin, determine the relative position deviation between the position of the pixel point in the center of the searched positioning code and the center position of the camera provided by the robot, and use the relative position deviation to represent the search. The relative relationship between the positioning code and the robot is obtained, and then the second predicted pose of the searched positioning code is determined according to the relative position deviation and the first predicted pose.

For example: Assuming that the length of the relative position deviation is 3 pixels, it can be converted into the length in the real scene according to the conversion ratio of the pixels in the current scene, so that according to the converted length and the direction of the relative position deviation, combined with the first One predicted pose, and finally the second predicted pose is determined.

Step 308, correcting the second predicted pose of the searched positioning code according to the reference positioning code.

Specifically, the reference positioning code is a positioning code with an absolute standard of pose, and the robot can correct the second predicted pose of the searched positioning code based on the standard pose of the reference positioning code. It can be understood that the robot can directly correct the second predicted pose according to the deviation between the actual pose of the reference positioning code and the current second predicted pose, or can also correct the second predicted pose according to the actual pose of the reference positioning code and the current second predicted pose. The deviation between the poses modifies the first predicted pose to indirectly modify the corresponding second predicted pose.

In one embodiment, the robot may pass through the reference positioning code multiple times, and correct the second predicted pose of the searched positioning code each time it passes the reference positioning code, and stop the correction until the stop condition is satisfied. The stopping condition may be that the number of times of passing the reference positioning code reaches a preset number of times, or that the deviation of the first predicted pose of the reference positioning code determined by passing through the reference positioning code twice in a row is smaller than a preset value.

Step 310 , for the positioning codes that are different between the corrected second predicted pose and the standard poses represented by the corresponding positioning codes, re-install them according to the standard poses.

Specifically, after the second predicted pose of the searched positioning code is modified, the corrected second predicted pose is compared with the standard pose represented by the corresponding searched positioning code to obtain a comparison result If there is a difference in the positioning code, the positioning code is re-posted according to the standard pose of the positioning code. The standard pose refers to a standard pose obtained by scanning the searched positioning code, and the standard pose is the standard pose of the scanned positioning code. It can be understood that the positioning code information in the searched positioning code carries the corresponding standard pose.

In one embodiment, the location codes with differences in the comparison results can be uploaded to the server, and the server is instructed to send a repost request to other robots. According to the repost request, other robots, for the location codes with differences in the comparison results, follow the location codes according to the repost request. The standard pose of the positioning code is re-posted.

In the above-mentioned embodiment, the reference positioning code is used as a reference to correct the second predicted pose of the searched positioning code. The positioning code is re-attached, so that the positioning code with inaccurate pose can achieve an accurate pose, which further improves the pose accuracy of the positioning code.

In one embodiment, correcting the second predicted pose of the searched positioning code according to the reference positioning code includes the following steps: when the search returns to the reference positioning code, and the current second predicted pose and the actual value of the reference positioning code When the deviation between the poses exceeds the first preset range, the second predicted pose of the searched positioning code is corrected according to the current deviation, and the step of searching for the positioning code from the reference positioning code is continued until the deviation is within Stop searching when it is within the first preset range.

The first preset range may be a specific value or a numerical range. In this embodiment, by presetting the first preset range, when the search returns to the reference positioning code, and the deviation between the current second predicted pose and the actual pose of the reference positioning code exceeds this preset range, It shows that the judgment of the second predicted position of the searched positioning code is wrong, so after correcting the second predicted position according to this deviation, the step of searching for the positioning code from the reference positioning code is returned to. Until the deviation between the current second predicted pose and the actual pose falls within the first preset range when the search returns to the reference positioning code, the search is stopped, so that the result of checking the positioning code with different poses is more accurate, It provides a more accurate basis for the subsequent steps of re-attaching the positioning codes with different poses.

In one embodiment, as shown in Figure 7, another positioning code sticking device 700 is provided, the device 700 includes: a search module 702, a pose determination module 704, a correction module 706 and a re-sticking module 708, wherein:

The search module 702 is configured to search for the positioning code from the reference positioning code.

determining the first pose module 704, for determining the corresponding first predicted pose according to the path from the reference positioning code to the searched positioning code,

determining the second pose module 706, determining the second predicted pose of the searched positioning code according to the relative relationship between the searched positioning code and the robot and the first predicted pose;

A correction module 708, configured to correct the second predicted pose of the searched positioning code according to the reference positioning code;

The re-posting module 710 is configured to re-post the positioning code with a difference between the corrected second predicted posture and the standard posture represented by the corresponding positioning code according to the standard posture.

In one embodiment, the correction module 708 is further configured to determine the deviation between the actual pose of the reference positioning code and the current second predicted pose when the search returns to the reference positioning code, and when the deviation exceeds the first predicted pose When the range is set, the second predicted pose of the searched positioning code is corrected according to the current deviation, and the step of searching for the positioning code from the reference positioning code is continued until the search is stopped when the deviation is within the first preset range.

For the specific limitation of the above positioning code sticking device, please refer to the limitation on the positioning code sticking method above, which will not be repeated here. All or part of the modules in the above positioning code sticking device can be implemented by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, and the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 8 . The computer device includes a processor, memory, grid interface, display screen, and input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The mesh interface of the computer device is used to communicate with external terminals through the mesh connection. When the computer program is executed by the processor, the above-mentioned positioning code attaching method can be realized. The display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment , or an external keyboard, trackpad, or mouse.

In one embodiment, a computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the positioning code attaching method of any of the foregoing embodiments is implemented.

In one embodiment, a computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, implements the positioning code attaching method of any of the foregoing embodiments.

Those skilled in the art can understand that the structure shown in FIG. 8 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (14)

1. A positioning code pasting method is applied to a robot, and comprises the following steps:

travel to a grid node of the ray grid;

determining a direction of a ray received at the grid node, the ray belonging to the ray grid;

adjusting the robot to a preset posture according to the direction of the light;

pasting a set bit code at the current grid node every time the robot is adjusted to a preset posture at the grid node;

searching a positioning code from the reference positioning code;

determining a first predicted pose of the robot according to a path from the reference positioning code to the searched positioning code;

determining a second predicted pose of the searched positioning code according to the relative relation between the searched positioning code and the robot and the first predicted pose;

when the reference positioning code is searched back to the position of the reference positioning code, determining the deviation between the actual pose of the reference positioning code and the current second predicted pose, and when the deviation exceeds a first preset range, determining that the actual pose of the reference positioning code is not in the first preset range

Correcting the second predicted pose of the searched positioning code according to the current deviation, and continuing to execute the step of searching the positioning code from the reference positioning code until the searching is stopped when the deviation is within the first preset range;

and replying the positioning code with the difference between the corrected second predicted pose and the standard pose represented by the corresponding positioning code according to the standard pose.

2. The method of claim 1, further comprising:

obtaining standard route information, wherein the standard route information carries standard positioning code information and standard position information of positioning codes on corresponding routes;

advancing according to the attached positioning code;

and when the standard positioning code information of the corresponding positioning code is not acquired from the position when the standard positioning code information is moved to the position represented by the standard position information, generating positioning code error information for reporting.

3. The method of claim 2, wherein generating location code error information for reporting when the standard location code information travels to a location represented by the standard location information and a corresponding location code is not collected from the location comprises:

when the position information of the positioning code acquired at the position is inconsistent with the standard positioning code information corresponding to the standard position information, generating first error information of the positioning code for reporting; or,

and when the mobile terminal moves to the position represented by the standard position information and the positioning code information of any positioning code is not collected at the position, generating second error information of the positioning code for reporting.

4. The method of claim 2, further comprising:

when the positioning code error information reported corresponding to the same positioning code reaches a preset number, acquiring a positioning code replacing instruction;

and replacing the positioning code at the corresponding position according to the replacement instruction, wherein the replaced positioning code is used for representing the standard positioning code information.

5. The method of claim 4, wherein the replacing the location code at the corresponding position according to the replacement instruction comprises:

acquiring a random positioning code according to the replacement instruction;

replacing the positioning code at the corresponding position with the random positioning code;

and sending the random positioning code information of the random positioning code to a server, wherein the random positioning code information is used for indicating the server to establish mapping from the random positioning code information to the standard positioning code information.

6. A positioning code pasting method is applied to a robot, and comprises the following steps:

searching a positioning code from the reference positioning code;

determining a first predicted pose of the robot according to a path from the reference positioning code to the searched positioning code;

determining a second predicted pose of the searched positioning code according to the relative relation between the searched positioning code and the robot and the first predicted pose;

when the reference positioning code is searched back to the position of the reference positioning code, determining the deviation between the actual pose of the reference positioning code and the current second predicted pose, and when the deviation exceeds a first preset range, determining that the actual pose of the reference positioning code is not in the first preset range

Correcting the second predicted pose of the searched positioning code according to the current deviation, and continuing to execute the step of searching the positioning code from the reference positioning code until the searching is stopped when the deviation is within the first preset range;

and replying the positioning code with the difference between the corrected second predicted pose and the standard pose represented by the corresponding positioning code according to the standard pose.

7. A location code attaching device, the device comprising:

the traveling module is used for controlling the robot to travel to the grid nodes of the light grid;

a direction determining module for determining a direction of a ray received at the grid node, the ray belonging to the ray grid;

the adjusting module is used for adjusting the robot to a preset posture according to the direction of the light;

the pasting module is used for pasting a set bit code at the current grid node when the robot is adjusted to a preset posture at the grid node;

the searching module is used for searching the positioning code from the reference positioning code;

the first pose determining module is used for determining a first predicted pose of the robot according to a path from the reference positioning code to the searched positioning code;

the second pose determining module is used for determining a second predicted pose of the searched positioning code according to the relative relation between the searched positioning code and the robot and the first predicted pose;

the correction module is used for determining the deviation between the actual pose of the reference positioning code and the current second prediction pose when the reference positioning code is searched and returned, correcting the second prediction pose of the searched positioning code according to the current deviation when the deviation exceeds a first preset range, and searching the positioning code from the reference positioning code until the deviation is within the first preset range;

and the re-pasting module is used for re-pasting the positioning code with the difference between the corrected second predicted pose and the standard pose represented by the corresponding positioning code according to the standard pose.

8. The apparatus of claim 7, further comprising:

the system comprises a standard route acquisition module, a route selection module and a route selection module, wherein the standard route acquisition module is used for acquiring standard route information, and the standard route information carries standard positioning code information and standard position information of positioning codes on corresponding routes;

the scanning module is used for advancing according to the attached positioning code;

and the reporting error module is used for generating positioning code error information for reporting when the standard positioning code information of the corresponding positioning code is not acquired from the position and moves to the position represented by the standard position information.

9. The apparatus according to claim 8, wherein the reporting error module is further configured to generate a first error message of the location code for reporting when the apparatus travels to the position represented by the standard location information and the location code information of the location code collected at the position is inconsistent with the standard location code information corresponding to the standard location information; or when the mobile terminal moves to the position represented by the standard position information and the positioning code information of any positioning code is not collected at the position, generating second error information of the positioning code for reporting.

10. The apparatus of claim 8, further comprising:

the replacing instruction obtaining module is used for obtaining a replacing instruction of the positioning code when the positioning code error information reported corresponding to the same positioning code reaches the preset times;

and the replacing module is used for replacing the positioning code at the corresponding position according to the replacing instruction, and the replaced positioning code is used for representing the standard positioning code information.

11. The apparatus of claim 10, wherein the replacement module is further configured to obtain a random location code according to the replacement instruction; replacing the positioning code at the corresponding position with the random positioning code; and sending the random positioning code information of the random positioning code to a server, wherein the random positioning code information is used for indicating the server to establish mapping from the random positioning code information to the standard positioning code information.

12. A location code attaching device, the device comprising:

the searching module is used for searching the positioning code from the reference positioning code;

the first pose determining module is used for determining a first predicted pose of the robot according to a path from the reference positioning code to the searched positioning code;

the second pose determining module is used for determining a second predicted pose of the searched positioning code according to the relative relation between the searched positioning code and the robot and the first predicted pose;

the correction module is used for determining the deviation between the actual pose of the reference positioning code and the current second prediction pose when the reference positioning code is searched and returned, correcting the second prediction pose of the searched positioning code according to the current deviation when the deviation exceeds a first preset range, and continuing searching the positioning code from the reference positioning code until the deviation is within the first preset range;

and the re-pasting module is used for re-pasting the positioning code with the difference between the corrected second predicted pose and the standard pose represented by the corresponding positioning code according to the standard pose.

13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by the processor.

14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.

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