CN109062211A - A kind of method, apparatus, system and storage medium based on SLAM identification near space - Google Patents
A kind of method, apparatus, system and storage medium based on SLAM identification near space Download PDFInfo
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Abstract
A kind of method, apparatus, system and computer storage medium based on mark information identification near space in Slam.The mark information obtained the method includes obtaining robot by SLAM；According to the mark information identify the robot locating for space near space.It may also include the walking path that the robot is planned according to the near space, so that robot be made to advance according to efficient path.Described device is corresponding, and there is mark information to obtain module, near space identification module and path planning module.The above method and the installation optimization walking path of robot, improve machine task efficiency, and easy to operate, it is easy to accomplish.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of method, apparatus, system based on SLAM identification near space
And storage medium.
Background technique
With being widely used for personal or commercial use such as clean automatic device (i.e. robot device), for machine
Device human efficiency, it is intelligentized require it is higher and higher.Such as clean robot, initial method is only capable of through random track search
Mode complete cleaning task, and following demand should then be avoided repeating by the path planning of intelligent and high-efficiency, is inefficient
Cleaning.In the prior art, a kind of method is to identify target object using the method for deep learning, to obtain dimensionally
Figure carrys out path optimizing.This method is more demanding to the complexity of equipment, and the distance that object obtains is identified by deep learning
Also inaccurate.
Summary of the invention
To solve the problems, such as that path planning low efficiency existing in the prior art, precision be not high and intelligent low, this hair
It is bright to propose a kind of method, apparatus, system and computer storage medium based on SLAM identification near space, optimize robot
Walking path, improve machine task efficiency, and easy to operate, it is easy to accomplish.
To solve the above problems, the first aspect of the present invention provides a kind of method based on SLAM identification near space,
Include:
Obtain the mark information that robot is obtained by SLAM；
According to the mark information identify the robot locating for space near space.
In some embodiments, it is described according to the mark information identify the robot locating for space near space,
Include:
Plane division is carried out to space locating for the robot according to the mark information, obtains plane information；
According to the plane information identify the robot locating for space near space.
In some embodiments, it is described according to the plane information identify the robot locating for space near space,
Include:
The near space in space locating for the robot is identified according to the variation of the plane information.
In some embodiments, the near space is the space of walking being connected with space locating for the robot.
In some embodiments, the method also includes:
According to the near space, the walking path of the robot is planned.
In some embodiments, the walking path includes: preferentially to run to the near space.
In some embodiments, the walking path includes: and runs to described after completing the walking in the locating space
Near space.
The second aspect of the present invention provides a kind of device based on SLAM identification near space, comprising:
Mark information obtains module, the mark information obtained for obtaining robot by SLAM；
Near space identification module, for according to the mark information identify the robot locating for space close on sky
Between.
In some embodiments, the near space identification module is according to the mark information to sky locating for the robot
Between carry out plane division, obtain plane information；And according to the plane information identify the robot locating for space close on sky
Between.
In some embodiments, it is described according to the plane information identify the robot locating for space near space,
Include:
The near space in space locating for the robot is identified according to the variation of the plane information.
In some embodiments, the near space is the space of walking being connected with space locating for the robot.
In some embodiments, described device further include:
Path planning module, for planning the walking path of the robot according to the near space.
In some embodiments, the walking path includes: preferentially to run to the near space.
In some embodiments, the walking path includes: and runs to described after completing the walking in the locating space
Near space.
The third aspect of the present invention provides a kind of system based on SLAM identification near space, which includes:
Memory and one or more processors；
Wherein, the memory is connect with one or more of processor communications, and being stored in the memory can quilt
The instruction that one or more of processors execute, described instruction is executed by one or more of processors, so that described one
A or multiple processors are for executing foregoing method.
The fourth aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with the executable finger of computer
It enables, when the computer executable instructions are executed by a computing apparatus, is operable to execute foregoing method.
In conclusion the present invention provides it is a kind of based in Slam mark information identification near space method, apparatus, be
System and computer storage medium.The mark information obtained the method includes obtaining robot by SLAM；According to the road sign
Information identifies the near space in space locating for the robot.According to the near space, the walking road of the robot is planned
Diameter, so that robot be made to advance according to efficient path.Position proposed by the present invention according to landmark identification near space in Slam
The method and apparatus for setting situation optimize the walking path of robot, improve machine task efficiency, and operate letter
It is single, it is easy to accomplish.
Above-mentioned technical proposal of the invention has following beneficial technical effect:
According to the situation of the mark information identification near space in SLAM, the boundaries and barrier in space where output
Hinder the Position Approximate of object to carry out auxiliary robot and do path planning, does not need complicated recongnition of objects method, improve path
The efficiency of planning；Meanwhile the range information carried using road sign in SLAM, know more suitable for path planning, and than target object
Other method is more accurate to the positioning of barrier.
Detailed description of the invention
Fig. 1 is that the present invention is based on the method flow diagrams of SLAM identification near space；
Fig. 2 is the method flow diagram of acquisition plane information of the invention；
Fig. 3 is the device block diagram of the invention based on SLAM identification near space；
Fig. 4 is space identity modular structure block diagram of the invention；
Fig. 5 is the structure and flow chart of the embodiment of the present invention 1；
Fig. 6 is the road sign example schematic in the vision Slam of the embodiment of the present invention 1；
Fig. 7 is the three-dimensional road sign schematic diagram in the vision Slam of the embodiment of the present invention 1；
Fig. 8 is the three-dimensional road sign schematic diagram in the different angle vision Slam of the embodiment of the present invention 1；
Fig. 9 a is the top view for the set plane that the road sign of the embodiment of the present invention 1 is formed；Fig. 9 b is three direction set
Revolved view；
Figure 10 is the status diagram that 2 robot of the embodiment of the present invention is in different moments.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Term is explained:
SLAM (simultaneous localization and mapping), also referred to as CML (Concurrent
Mapping and Localization), instant positioning and map structuring, or concurrently build figure and positioning.Problem can be described as:
One robot is put into the unknown position in circumstances not known, if having method that robot is allowed gradually to depict this environment on one side complete
Full map, so-called complete map (aconsistent map), which refers to, is not advanced to the enterable each angle in room by obstacle
It falls.
Road sign Landmark refers to the coordinate value of the point saved in GPS memory.Road sign is GPS data core, it is structure
At the basis of " route ".
The first aspect of the present invention provides a kind of method 100 based on SLAM identification near space, the method includes
Following steps, as shown in Figure 1:
Step 110, the mark information that robot is obtained by SLAM is obtained.
Specifically, parameter information and mark information can be obtained by carrying out SLAM measurement to the interior space.The present invention is to Slam
Equipment is without specific requirement, the camera of monocular (need to IMU/ wheel etc. combine) or binocular camera.In Slam vision, often
One characteristic point is exactly a road sign, after a characteristic point is observed in multiple measurement and is associated, so that it may make
It is put into map for road sign.
Parameter information includes: camera posture, image key frame and camera calibrated parameter.
Camera posture refers to position and orientation of the camera under world coordinate system, is expressed as C={ C1, C2...CN}；
Image key frame and camera posture are corresponding, are expressed as I={ I1, I2...IN}；
Camera calibrated parameter K are as follows:
Mark information includes set X, the X={ X of road sign1, X2...XP, wherein X1, X2...XPBeing includes x, tri- axis of y, z
Coordinate value.
Described N, P are natural number.
Wherein world coordinate system is defined as: since video camera can place any position in the environment, select in the environment
A frame of reference is selected to describe the position of video camera, and describes the position of any object in environment with it, which claims
For world coordinate system.
Step 120, according to the mark information identify the robot locating for space near space.It specifically include step
Rapid 121, mark information is received by space identity module, using image processing algorithm, according to the mark information to the machine
Space locating for people carries out plane division, obtains plane information.Step 122, the sky according to locating for the plane information identification robot
Between near space.
As shown in Fig. 2, the calculation method process 200 of plane information includes the following steps:
Step 210, Manhattan direction [n is calculated according to above-mentioned parameter information and mark information1,n2,n3], the Manhattan
Direction [n1,n2,n3] it is three direction of extinction, that is, three-dimensional intermediate values representated by picture drop-out point in image key frame.
Specifically, the Manhattan direction is by lower calculating:
In described image key frame, from j-th of image key frame IjThree images are calculated in (j=1,2 ..., N)
The vector of end point
Calculate direction of extinction of the picture drop-out point under world coordinate system:
Wherein R is the spin matrix of 3*3, and orthogonal and determinant is 1；K is correction parameter；This spin matrix it is inverse by camera
Point P under coordinate systemcRotate to the point P under world coordinate systemw: Pw=R-1*Pc；
Wherein picture drop-out point refers to the intersection point of parallel lines.In physical space, parallel straight line can only be in infinity
Place's intersection, therefore picture drop-out point is infinite point；But in perspective view, two parallel lines can be easy to intersect at a point, this
Point is picture drop-out point.
Obtain the intermediate value [n of each direction of extinction1, n2, n3]:
Wherein k=1,2,3；
Define [n1, n2, n3] it is Manhattan direction.
Step 220 projects to the set X of road sign on the direction of Manhattan, and it is farthest to obtain distance on three directions respectively
Two road sign points.
Concrete methods of realizing is as follows:
It is recycled on the direction of Manhattan:
Obtain minimax distance:
Step 230, according to two farthest road sign points of Manhattan direction and the distance obtain on the direction of Manhattan etc.
Spaced planes, by respectively the plane set on corresponding Manhattan direction is added in plane at equal intervals(k=1,2,3), the plane
Collection is combined into the plane set corresponding to a dimension.
Specifically, according to Manhattan direction andThe plane at equal intervals on different directions is obtained, gap size can be with
It presets.
[ηk1, ηk2... ηkd], k=1,2,3；
η=[nd]T；
Wherein, n is plane normal vector, and d is distance of the plane to origin.
η is calculated separately according to road sign point set Xk1, ηk2...ηkdScore, work as ηkdScore is greater than a certain given threshold σ1
When, by ηkdThe plane set on corresponding Manhattan direction is added
Score calculation method is as follows:
Initialization: score=0, input: X, η；
Calculate XiWith the distance d of ηi；
If | di| > a certain given threshold σ2；
Score+=1；
I=1,2 ..., N.
Plane setAs correspond to the plane set of a dimension, such asIt represents
Using ground as minimum distance, using ceiling as maximum distance, the knot of multiple horizontal planes corresponding to axis perpendicular to the ground
It closes.
Step 240, exporting the planar set cooperation is plane information.
According to above-mentioned steps 210-240, the plane information in space, can be learnt in space where obtaining Slam measuring device
Boundaries and barrier Position Approximate, the path planning for after provides data supporting.
Step 122, according to plane information identify the robot locating for space near space.
Specifically, according to the variation of the plane set, gradually Judge plane is that current spatial plane or near space are flat
Face, if the plane is to be not belonging to the new plane of plane set, near space plane, there are near spaces.
Specifically, when robot goes to the road sign outdoors or when window, where Slam system will acquire robot outside space
Information.Space identity module obtains new plane setIt afterwards, can be according to the variation of plane set
One by one Judge plane whether be current spatial plane or near space plane.This is because robot is closed on encountering one
When space, the road sign near space is invisible before, therefore in plane set before and the corresponding road sign is not present
The plane of point, when the new plane occurs, it is meant that robot observes a near space.So if being found in plane set
New plane, by the plane space position afferent pathway planning module.
Further, it may also include step 130, according to the near space, plan the walking path of the robot.
The near space can be walk space or the space that can not walk being connected with current spatial, specific judgment method
It is as follows:
If a depth threshold σ, if the distance d of the origin under plane to world coordinate system is less than σ, as robot is feasible
Walk region (current spatial and near space)., whereas if the distance of plane to world coordinate system is excessive, then mean to close on
Space is opening, is not suitable for robot ambulation.
Further, the path planning includes preferentially walking or completing after current spatial is walked to closing on near space
Space walk.
By above-mentioned steps 110-130, the identification pair of near space should be passed through based on the method for SLAM identification near space
The path planning of robot optimizes, and improves path planning efficiency and accuracy.
Another aspect provides a kind of devices 300 based on SLAM identification near space, as shown in figure 3, packet
It includes:
Mark information obtains module 310, the mark information obtained for obtaining robot by SLAM；
Near space identification module 320, for according to the mark information identify the robot locating for space close on
Space.
Further, it may also include path planning module 330, according to the near space, plan the row of the robot
Walk path.
The near space identification module 320 further comprises, as shown in Figure 4:
Manhattan direction calculating unit 321, for calculating Manhattan direction [n1,n2,n3], the Manhattan direction [n1,
n2,n3] be three directions of extinction representated by picture drop-out point in image key frame intermediate value；
Plane set acquiring unit 322 projects to the set X of the road sign on the direction of Manhattan, obtains three respectively
Two farthest road sign points of distance on direction；According to Manhattan direction and the distance, two farthest road sign points obtain Manhattan
Plane at equal intervals on direction, by respectively the plane set on corresponding Manhattan direction is added in plane at equal intervalsThe planar set is combined into the plane set corresponding to a dimension；
Plane set output unit 323, exporting the planar set cooperation is spatial information.
Further, the near space identification module 320 includes near space judging unit, according to the plane information
Variation gradually Judge plane is current spatial plane or near space plane, if the plane is not belonging to plane set
New plane is then near space plane, and there are near spaces.
Further, the near space judging unit includes judging that the near space can for what is be connected with current spatial
Walking space or the space that can not walk, are judged by following steps:
If a depth threshold σ, if the distance d of the origin under the plane of near space to world coordinate system is less than σ, as
Walkable region；, whereas if the distance of the plane of the near space to world coordinate system is greater than σ, then near space is not
Can walk space.
The third aspect of the present invention provides a kind of system based on SLAM identification near space, which includes:
Memory and one or more processors；
Wherein, the memory is connect with one or more of processor communications, and being stored in the memory can quilt
The instruction that one or more of processors execute, described instruction is executed by one or more of processors, so that described one
A or multiple processors are for executing foregoing method.
The fourth aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with the executable finger of computer
It enables, when the computer executable instructions are executed by a computing apparatus, is operable to execute foregoing method.
Embodiment 1:
In the embodiment of the present invention 1, robot device is sweeping robot, and Slam measurement module gets parms information and road
Mark information.The device based on SLAM identification near space includes a Slam measurement module, and equipment is without specific requirement；Know in space
Other module for receiving mark information etc., and exports space boundary information；Path planning module, it is defeated for receiving boundary information
Travel path after optimizing out, as shown in Figure 5.
Fig. 6 shows the citing of the road sign in vision Slam, and small cube indicates the road sign of Slam measurement module record in figure.
Fig. 7 and Fig. 8 is the three-dimensional mark information figure that generates under different angle, and Fig. 7 is close to top view.
Space identity module identifies space layout according to mark information.(1) get parms information and road from SLAM module
Mark information；(2) it calculates Manhattan direction and obtains space plane hypothesis；(3) the plane set on the direction of Manhattan is obtained
It is as illustrated in fig. 9 the top view of a road sign, 1. 2. 3. plane is to gatherIn plane, it is possible to understand that
For multiple planes on a direction of robot ambulation horizontal plane.4. 5. 6. 7. plane is to gatherIn plane, can
Be interpreted as one of robot ambulation plane withMultiple planes on vertical direction.SetIn plane be
The multiple planes parallel with robot ambulation plane.It is the revolved view of three directions set in Fig. 9 b.
Path planning module according to plane 1. -7. in the location information of three-dimensional map, judged according to location information current empty
Between and near space, and complete walking planning.4. locate specifically, being for example in plane when robot is opened, at this time machine
People be unable to get 6. 7. between mark information, wherein 6. 7. between be an open corridor.When robot ambulation is walked to this
When the entrance of corridor, that is, in map 4. 5. between position when, robot can observe 6. 7. between new mark information.
At this point, will be obtained in the first plane set except 1. 2. 3. in addition to new plane 6. 7..Since the plane is not 6. 7. in front of this
In one plane set, it is meant that robot has found a new near space.Further, due to the range information of the new plane
Less than predetermined depth threshold value, therefore the space is judged as adjacent space of walking.If the range information is greater than depth threshold,
And corresponding third plane aggregate distance is also greater than depth threshold, it is meant that the near space is an opening, therefore the sky
Between be judged as the adjacent space that can not walk.
Embodiment 2:
Illustrate that the present invention implements energy bring benefit in specific robot product by taking Figure 10 as an example.As shown in Figure 10, machine
Device people is displaced from moment 1 to the moment 2, and at the moment 2, the Slam of robot has found new road sign point, therefore is caused pair
The plane in plane space set answered is changed.By the judgement of the plane to variation, robot can be sent out at the moment 2
An existing new near space.
The robot of one prior art, such as start to carry out cleaning works in 1 present position of Figure 10 moment, it can lead to
The location information for crossing the offer of Slam measurement module constantly tracks the position of oneself.But path planning module is not available Slam then
The information of measurement module, a kind of relatively conventional method are to carry out I-shaped cleaning.Robot is in the cleaning for completing current region
After work, it is possible to reach a corner of current spatial, then robot thinks to clean completion at this time.Using institute of the present invention
After the method for proposition, robot also can be used I-shaped path planning and clean to current path.But in cleaning process
In, Slam measurement module not only provides the function of positioning and map structuring, while outputing a near space to navigation module
Information.Robot has recorded a corresponding near space information and corresponding coordinate in task at this time.In robot
Identify that near space is not yet completed to clean and the space is one after terminating current spatial cleaning, in robot path planning's module
A space of walking, the robot of path planning module driving at this time go to the near space in advance, then complete by I-shaped path
At the cleaning in the region.By constantly repeating the above process, robot can complete the cleaning in all spaces of walking, and
Avoid walking to openings such as outdoors.In some traditional robotic methods, robot can also pass through random walk
Method, enters near space under certain probability, and this method compares that method reliability proposed by the present invention is low and effect can not
It ensures.
In conclusion the present invention provides it is a kind of according in Slam mark information identification near space situation (be
No is wall or doorway, whether has barrier etc. in some position) method, apparatus, system and computer storage medium.Institute
The method of stating includes the mark information for obtaining robot and being obtained by SLAM；According to locating for the mark information identification robot
The near space in space.It may also include the walking path that the robot is planned according to the near space, to make robot
It advances according to efficient path.Described device is corresponding, and there is mark information to obtain module, near space identification module and path rule
Draw module.Method and apparatus proposed by the present invention according to the situation of landmark identification near space in Slam, optimize machine
The walking path of device people improves machine task efficiency, and easy to operate, it is easy to accomplish.
It should be understood that above-mentioned specific embodiment of the invention is used only for exemplary illustration or explains of the invention
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (16)
1. a kind of method based on SLAM identification near space characterized by comprising
Obtain the mark information that robot is obtained by SLAM；
According to the mark information identify the robot locating for space near space.
2. the method according to claim 1 based on SLAM identification near space, which is characterized in that described according to the road
Mark information identifies the near space in space locating for the robot, comprising:
Plane division is carried out to space locating for the robot according to the mark information, obtains plane information；
According to the plane information identify the robot locating for space near space.
3. the method according to claim 2 based on SLAM identification near space, which is characterized in that described according to described flat
Face information identifies the near space in space locating for the robot, comprising:
The near space in space locating for the robot is identified according to the variation of the plane information.
4. the method according to claim 1 based on SLAM identification near space, which is characterized in that the near space is
The space of walking being connected with space locating for the robot.
5. the method according to claim 1 based on SLAM identification near space, which is characterized in that the method is also wrapped
It includes:
According to the near space, the walking path of the robot is planned.
6. the method according to claim 5 based on SLAM identification near space, which is characterized in that the walking path packet
It includes: preferentially running to the near space.
7. the method according to claim 5 based on SLAM identification near space, which is characterized in that the walking path packet
It includes: after completing the walking in the locating space, running to the near space.
8. a kind of device based on SLAM identification near space characterized by comprising
Mark information obtains module, the mark information obtained for obtaining robot by SLAM；
Near space identification module, for according to the mark information identify the robot locating for space near space.
9. the device according to claim 8 based on SLAM identification near space, which is characterized in that the near space is known
Other module carries out plane division to space locating for the robot according to the mark information, obtains plane information；And according to institute
State the near space that plane information identifies space locating for the robot.
10. the device according to claim 9 based on SLAM identification near space, which is characterized in that described according to
Plane information identifies the near space in space locating for the robot, comprising:
The near space in space locating for the robot is identified according to the variation of the plane information.
11. the device according to claim 10 based on SLAM identification near space, which is characterized in that the near space
For the space of walking being connected with space locating for the robot.
12. the device according to claim 8 based on SLAM identification near space, which is characterized in that described device is also wrapped
It includes:
Path planning module, for planning the walking path of the robot according to the near space.
13. the device according to claim 12 based on SLAM identification near space, which is characterized in that the walking path
It include: preferentially to run to the near space.
14. the device according to claim 12 based on SLAM identification near space, which is characterized in that the walking path
It include: to run to the near space after completing the walking in the locating space.
15. a kind of system based on SLAM identification near space, which is characterized in that the system includes:
Memory and one or more processors；
Wherein, the memory is connect with one or more of processor communications, and being stored in the memory can be described
The instruction that one or more processors execute, described instruction executed by one or more of processors so that it is one or
Multiple processors require the described in any item methods of 1-7 for perform claim.
16. a kind of computer readable storage medium, is stored thereon with computer executable instructions, refer to when the computer is executable
When order is executed by a computing apparatus, it is operable to perform claim and requires the described in any item methods of 1-7.
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