CN112859874B - Dynamic environment area operation and maintenance method and equipment for mobile robot - Google Patents
Dynamic environment area operation and maintenance method and equipment for mobile robot Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 43
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- 238000004590 computer program Methods 0.000 claims description 14
- 238000004422 calculation algorithm Methods 0.000 claims description 6
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- 238000005516 engineering process Methods 0.000 description 3
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- 238000013507 mapping Methods 0.000 description 3
- 238000007476 Maximum Likelihood Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The application aims to provide a dynamic environment area operation and maintenance scheme for a mobile robot. According to the scheme, operation and maintenance area information appointed by a user is firstly obtained, a corresponding operation and maintenance map is generated according to an original map and the operation and maintenance area information, then the mobile robot is positioned by utilizing sensor information of the mobile robot and the operation and maintenance map, and then the operation and maintenance map is updated according to the positioning of the mobile robot, the sensor information and the operation and maintenance area information. Compared with the prior art, the method reduces the consumption of computing resources, greatly reduces the probability of positioning loss of the mobile robot in a changeable environment, further avoids the safety risk caused by positioning loss, reduces the workload of operation and maintenance personnel, improves the quality and efficiency of operation and maintenance of a dynamic environment area, and overcomes the defects of high calculation amount, introduction of redundant noise points, map construction failure or redundant labor cost and the like in the prior art.
Description
Technical Field
The application relates to the technical field of information, in particular to a dynamic environment area operation and maintenance technology for a mobile robot.
Background
Positioning is a precondition for stable operation of the mobile robot. However, in practical application scenarios, the working environment of the mobile robot often changes, for example, in places such as markets and supermarkets. Due to environmental fluctuations, the positioning accuracy of mobile robots is often reduced, resulting in that the mobile robots cannot operate normally in a dynamic environment.
In order to ensure that the mobile robot works normally in a dynamic environment, the prior technical scheme is as follows: (1) The mobile robot is always started to build the map, so that the timeliness of the environmental information is ensured; (2) the operation and maintenance personnel manually update the map. However, the first solution described above has a number of drawbacks: continuously opening the mapping results in excessive consumption of computing resources; persistence of dynamic obstacles into the map, resulting in map and environment mismatch; the accumulated errors in the continuous construction process of the environment map cause that the actual observation of the robot is inconsistent with the environment map, so that the robot cannot work normally. The second solution requires frequent manual map updating, which obviously generates excessive labor costs in the case of multiple robots and multiple environments.
Disclosure of Invention
An object of the present application is to provide a dynamic environment area operation and maintenance method and apparatus for a mobile robot.
According to one aspect of the present application, there is provided a dynamic environment area operation and maintenance method for a mobile robot, wherein the method includes:
Acquiring operation and maintenance area information appointed by a user, and generating a corresponding operation and maintenance map according to an original map and the operation and maintenance area information;
Positioning the mobile robot by using sensor information of the mobile robot and the operation and maintenance map;
And updating the operation and maintenance map according to the positioning and sensor information of the mobile robot.
According to another aspect of the present application, there is also provided a dynamic environment area operation and maintenance apparatus for a mobile robot, wherein the apparatus includes:
The initial module is used for acquiring the operation and maintenance area information appointed by the user and generating a corresponding operation and maintenance map according to the original map and the operation and maintenance area information;
the positioning module is used for positioning the mobile robot by utilizing the sensor information of the mobile robot and the operation and maintenance map;
and the operation and maintenance map updating module is used for updating the operation and maintenance map according to the positioning and sensor information of the mobile robot.
According to yet another aspect of the present application, there is also provided a computing device, wherein the device comprises a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein the computer program instructions, when executed by the processor, trigger the device to perform the dynamic environment area operation and maintenance method for a mobile robot.
According to yet another aspect of the present application, there is also provided a computer readable medium having stored thereon computer program instructions executable by a processor to implement the dynamic environment area operation and maintenance method for a mobile robot.
In the scheme provided by the application, the operation and maintenance area information appointed by the user is firstly obtained, the corresponding operation and maintenance map is generated according to the original map and the operation and maintenance area information, then the mobile robot is positioned by utilizing the sensor information of the mobile robot and the operation and maintenance map, and then the operation and maintenance map is updated according to the positioning of the mobile robot, the sensor information and the operation and maintenance area information. Further, if the map resetting condition is met, resetting the operation and maintenance map. Compared with the prior art, the method reduces the consumption of computing resources, greatly reduces the probability of positioning loss of the mobile robot in a changeable environment, further avoids the safety risk caused by positioning loss, reduces the workload of operation and maintenance personnel, improves the quality and efficiency of operation and maintenance of a dynamic environment area, and overcomes the defects of high calculation amount, introduction of redundant noise points, map construction failure or redundant labor cost and the like in the prior art.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a dynamic environment area operation and maintenance method for a mobile robot according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an operation and maintenance area according to an embodiment of the present application;
FIG. 3 is a flow chart of locating a mobile robot according to an embodiment of the present application;
FIG. 4 is a flow chart of updating an operation and maintenance area according to an embodiment of the present application;
FIG. 5 is a flow chart of a dynamic environment area operation and maintenance method for a mobile robot according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a dynamic environment area operation and maintenance device for a mobile robot according to an embodiment of the present application;
Fig. 7 is a schematic view of a dynamic environment area operation and maintenance apparatus for a mobile robot according to an embodiment of the present application.
The same or similar reference numbers in the drawings refer to the same or similar parts.
Detailed Description
The application is described in further detail below with reference to the accompanying drawings.
In one exemplary configuration of the application, the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer-readable media include both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, program devices, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computing device.
The embodiment of the application provides a dynamic environment area operation and maintenance method for a mobile robot, which reduces the consumption of computing resources, greatly reduces the probability of positioning loss of the mobile robot in a changeable environment, further avoids the safety risk caused by positioning loss, reduces the workload of operation and maintenance personnel, improves the quality and efficiency of the dynamic environment area operation and maintenance, and overcomes the defects of high calculation amount, redundant noise introduction, map construction failure or redundant labor cost generation and the like in the prior art.
In a practical scenario, the device performing the method may be a user device, a network device, or a device formed by integrating the user device and the network device through a network. The user equipment includes, but is not limited to, mobile robots, smart phones, tablet computers, personal Computers (PCs) and other terminal equipment, and the network equipment includes, but is not limited to, network hosts, single network servers, multiple network server sets or cloud computing-based computer sets and other implementations. Here, the Cloud is composed of a large number of hosts or web servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, one virtual computer composed of a group of loosely coupled computer sets.
Fig. 1 is a flowchart of a dynamic environment area operation and maintenance method for a mobile robot according to an embodiment of the present application, the method including steps S101, S102 and S103.
Step S101, acquiring operation and maintenance area information designated by a user, and generating a corresponding operation and maintenance map according to an original map and the operation and maintenance area information.
For example, as shown in fig. 2, a user may specify an operation and maintenance area on the UI interface according to a priori knowledge of the application scene of the mobile robot, where the general expression of the operation and maintenance area is a rectangular area, which is an area in the real scene that is easy to change, where the easy to change may be understood as a mismatch between the laser observation of the real scene and the record in the original map M. After the system obtains the operation and maintenance area information appointed by the user, a corresponding operation and maintenance map B is generated by embedding the operation and maintenance area information in the original map M.
And step S102, positioning the mobile robot by using the sensor information of the mobile robot and the operation and maintenance map.
In some embodiments, as shown in fig. 3, the step S102 includes: (a) Acquiring laser radar observation information z, mileage count u and operation and maintenance map B at the current moment; (b) If the mileage count u from the last time to the current time is greater than a preset distance or angle threshold, calculating a positioning result of the current time of the robot and a matching value based on the positioning result by using information such as laser sensor observation information z, an operation and maintenance map B and the like through a point cloud matching algorithm.
In some embodiments, as shown in fig. 3, the step S102 further includes: if the mileage count u from the last time to the current time is smaller than the predetermined distance or angle threshold, the step (a) is skipped.
For example, in step (b), if the mileage count u from the last time to the current time is smaller than a predetermined distance or angle threshold, the process goes to step (a). The mileage count u may be judged to be less than a predetermined distance or angle threshold in the following manner:
in step (B), according to the mileage count u from the last time to the current time, the laser sensor observation information z, and the operation and maintenance map B, the current positioning result may be obtained by using the following maximum likelihood estimation method or ICP algorithm:
In the step (B), if the matching value of the current positioning result is high, the matching degree of the laser radar observation information z of the robot under the current positioning result and the operation and maintenance map B is high, which indicates that the positioning quality is good, and the operation and maintenance map B can be updated according to a preset strategy later; if the matching value of the current positioning result is lower than the preset matching threshold value, the step (a) is skipped. The matching value of the current positioning result may be calculated as follows:
wherein N represents the total number of ranging points contained in the current laser radar observation information z, x i represents the coordinate of the mapping point of the ith ranging point in the current laser radar observation information z in the operation and maintenance map, p i represents the coordinate of the point forming a matching relationship with x i in the operation and maintenance map, d is the longest distance between two points with the matching relationship in the operation and maintenance map, and G matching is the matching value of the current positioning result and has the value range of [0,1].
And step S103, updating the operation and maintenance map according to the positioning and sensor information of the mobile robot.
In some embodiments, the step S103 includes: and updating a part corresponding to the operation and maintenance area information in the operation and maintenance map according to the positioning and sensor information of the mobile robot. For example, the operation and maintenance area is a description of a range (such as a rectangular operation and maintenance area range in fig. 2) on the operation and maintenance map, the content of the operation and maintenance map is updated in the operation and maintenance process, and only the map in the operation and maintenance area on the operation and maintenance map is updated under the condition that the operation and maintenance area is a priori.
In some embodiments, as shown in fig. 4, the step S103 includes: calculating a grid set P passing by a line segment taking a positioning result as a starting point and a ranging point as an ending point on the operation and maintenance map B according to each ranging point (d i,αi) in the current laser radar observation information of the mobile robot and the current positioning result (r x,ry, theta) of the mobile robot; for any grid in the grid set P, if the grid position (x, y) is within the operation and maintenance area range, updating the description value B (x, y) of the grid according to the measurement model, namely updating the operation and maintenance map.
For example, a line segment starting from the positioning result (r x,ry, θ) and ending at the i-th ranging point (d i,αi) in the current lidar observation information may be calculated as the grid set P through which the line segment passes by:
P＝{(xj,yj)|j∈{1,2,3,…,n}}
Satisfy the following requirements
Wherein d i represents the ranging value of the ith ranging point in the current laser radar observation information, and alpha i represents the included angle value between the ith ranging point and the mobile robot orientation in the current laser radar observation information.
Whether the grid position (x, y) is in the m-th sub-region R m of the operation and maintenance region may be determined as follows:
B (x, y) is a descriptor of the grid with the position (x, y) on the operation and maintenance map, the larger the descriptor is, the larger the probability that the grid is occupied is, otherwise, the smaller the descriptor is, the smaller the probability that the corresponding grid is occupied is, and each grid descriptor in the grid set P can be updated as follows:
Wherein l2p (d) is the update factor of the descriptor.
In some embodiments, as shown in fig. 5, the dynamic environment area operation and maintenance method for a mobile robot further includes step S104'; in the step S104', if the map resetting condition is met, the operation and maintenance map B is reset. For example, the process of resetting the operation and maintenance map is to generate a replacement map TEMP by embedding operation and maintenance area information in the original map M, and then replace the operation and maintenance map B with the replacement map TEMP.
In some embodiments, the map reset condition includes at least any one of: the difference value between the time t-1 of the last resetting operation and maintenance map and the current time t is larger than a preset time threshold; the difference between the operation and maintenance map and the original map is greater than a predetermined difference threshold.
For example, the difference between the time t-1 at which the operation map was last reset and the current time t may be calculated. And if the time difference value is larger than the preset time threshold value, resetting the operation and maintenance map B. If the time difference is smaller than the preset time threshold, the difference value between the operation and maintenance map B and the original map M is calculated continuously. If the difference value is larger than a preset difference threshold value, resetting the operation and maintenance map B; if the difference value is smaller than the predetermined difference threshold, the process goes to the step S101' to continue execution. The error of the operation and maintenance map B from the original map M can be calculated as follows:
Wherein D represents a difference value between the operation and maintenance map B and the corresponding original map M, N represents the number of sub-regions in the operation and maintenance region, M i and N i represent the width and height of the i-th sub-region R i in the operation and maintenance region, and B (s, t) and M (s, t) are descriptors of the corresponding grids in the operation and maintenance map B and the original map M, respectively.
Fig. 6 is a schematic view of a dynamic environment area operation and maintenance apparatus for a mobile robot according to an embodiment of the present application, which includes an initial module 601, a positioning module 602, and an operation and maintenance map updating module 603.
The initial module 601 obtains the operation and maintenance area information specified by the user, and generates a corresponding operation and maintenance map according to the original map and the operation and maintenance area information.
For example, as shown in fig. 2, a user may specify an operation and maintenance area on the UI interface according to a priori knowledge of the application scene of the mobile robot, where the general expression of the operation and maintenance area is a rectangular area, which is an area in the real scene that is easy to change, where the easy to change may be understood as a mismatch between the laser observation of the real scene and the record in the original map M. After the system obtains the operation and maintenance area information appointed by the user, a corresponding operation and maintenance map B is generated by embedding the operation and maintenance area information in the original map M.
The positioning module 602 uses sensor information of the mobile robot and the operation map to position the mobile robot.
In some embodiments, as shown in fig. 3, the positioning module 602 is configured to: (a) Acquiring laser radar observation information z, mileage count u and operation and maintenance map B at the current moment; (b) If the mileage count u from the last time to the current time is greater than a preset distance or angle threshold, calculating a positioning result of the current time of the robot and a matching value based on the positioning result by using information such as laser sensor observation information z, an operation and maintenance map B and the like through a point cloud matching algorithm.
In some embodiments, as shown in fig. 3, the positioning module 602 is further configured to: if the mileage count u from the last time to the current time is smaller than the predetermined distance or angle threshold, the step (a) is skipped.
For example, in step (b), if the mileage count u from the last time to the current time is smaller than a predetermined distance or angle threshold, the process goes to step (a). The mileage count u may be judged to be less than a predetermined distance or angle threshold in the following manner:
in step (B), according to the mileage count u from the last time to the current time, the laser sensor observation information z, and the operation and maintenance map B, the current positioning result may be obtained by using the following maximum likelihood estimation method or ICP algorithm:
In the step (B), if the matching value of the current positioning result is high, the matching degree of the laser radar observation information z of the robot under the current positioning result and the operation and maintenance map B is high, which indicates that the positioning quality is good, and the operation and maintenance map B can be updated according to a preset strategy later; if the matching value of the current positioning result is lower than the preset matching threshold value, the step (a) is skipped. The matching value of the current positioning result may be calculated as follows:
wherein N represents the total number of ranging points contained in the current laser radar observation information z, x i represents the coordinate of the mapping point of the ith ranging point in the current laser radar observation information z in the operation and maintenance map, p i represents the coordinate of the point forming a matching relationship with x i in the operation and maintenance map, d is the longest distance between two points with the matching relationship in the operation and maintenance map, and G matching is the matching value of the current positioning result and has the value range of [0,1].
The operation and maintenance map updating module 603 updates the operation and maintenance map according to the positioning and sensor information of the mobile robot.
In some embodiments, the operation map updating module 603 is configured to: and updating a part corresponding to the operation and maintenance area information in the operation and maintenance map according to the positioning and sensor information of the mobile robot. For example, the operation and maintenance area is a description of a range (such as a rectangular operation and maintenance area range in fig. 2) on the operation and maintenance map, the content of the operation and maintenance map is updated in the operation and maintenance process, and only the map in the operation and maintenance area on the operation and maintenance map is updated under the condition that the operation and maintenance area is a priori.
In some embodiments, as shown in fig. 4, the operation map updating module 603 is configured to: calculating a grid set P passing by a line segment taking a positioning result as a starting point and a ranging point as an ending point on the operation and maintenance map B according to each ranging point (d i,αi) in the current laser radar observation information of the mobile robot and the current positioning result (r x,ry, theta) of the mobile robot; for any grid in the grid set P, if the grid position (x, y) is within the operation and maintenance area range, updating the description value B (x, y) of the grid according to the measurement model, namely updating the operation and maintenance map.
For example, a line segment starting from the positioning result (r x,ry, θ) and ending at the i-th ranging point (d i,αi) in the current lidar observation information may be calculated as the grid set P through which the line segment passes by:
P＝{(xj,yj)|j∈{1,2,3,…,n}}
Satisfy the following requirements
Wherein d i represents the ranging value of the ith ranging point in the current laser radar observation information, and alpha i represents the included angle value between the ith ranging point and the mobile robot orientation in the current laser radar observation information.
Whether the grid position (x, y) is in the m-th sub-region R m of the operation and maintenance region may be determined as follows:
B (x, y) is a descriptor of the grid with the position (x, y) on the operation and maintenance map, the larger the descriptor is, the larger the probability that the grid is occupied is, otherwise, the smaller the descriptor is, the smaller the probability that the corresponding grid is occupied is, and each grid descriptor in the grid set P can be updated as follows:
Wherein l2p (d) is the update factor of the descriptor.
In some embodiments, as shown in fig. 5, the dynamic environment area operation and maintenance device for a mobile robot further includes an operation and maintenance map resetting module 604'; the operation map resetting module 604' is configured to: and if the map resetting condition is met, resetting the operation and maintenance map B. For example, the process of resetting the operation and maintenance map is to generate a replacement map TEMP by embedding operation and maintenance area information in the original map M, and then replace the operation and maintenance map B with the replacement map TEMP.
In some embodiments, the map reset condition includes at least any one of: the difference value between the time t-1 of the last resetting operation and maintenance map and the current time t is larger than a preset time threshold; the difference between the operation and maintenance map and the original map is greater than a predetermined difference threshold.
For example, the difference between the time t-1 at which the operation map was last reset and the current time t may be calculated. And if the time difference value is larger than the preset time threshold value, resetting the operation and maintenance map B. If the time difference is smaller than the preset time threshold, the difference value between the operation and maintenance map B and the original map M is calculated continuously. If the difference value is larger than a preset difference threshold value, resetting the operation and maintenance map B; if the variance value is less than the predetermined variance threshold, the process jumps to the initial block 601' for further execution. The error of the operation and maintenance map B from the original map M can be calculated as follows:
Wherein D represents a difference value between the operation and maintenance map B and the corresponding original map M, N represents the number of sub-regions in the operation and maintenance region, M i and N i represent the width and height of the i-th sub-region R i in the operation and maintenance region, and B (s, t) and M (s, t) are descriptors of the corresponding grids in the operation and maintenance map B and the original map M, respectively.
In summary, the embodiment of the application reduces the consumption of computing resources, greatly reduces the probability of positioning loss of the mobile robot in a changeable environment, further avoids the safety risk caused by positioning loss, reduces the workload of operation and maintenance personnel, improves the quality and efficiency of operation and maintenance of a dynamic environment area, and overcomes the defects of high calculation amount, introduction of redundant noise points, map construction failure or redundant labor cost and the like in the prior art.
Furthermore, portions of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application by way of operation of the computer. Program instructions for carrying out the methods of the present application may be stored on fixed or removable recording media and/or transmitted over a data stream on a broadcast or other signal bearing medium and/or stored in a working memory of a computer device that operates in accordance with the program instructions. Some embodiments of the present application herein provide a computing device comprising a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein the computer program instructions, when executed by the processor, trigger the device to perform the methods and/or aspects of the various embodiments of the present application described above.
Furthermore, some embodiments of the present application provide a computer readable medium having stored thereon computer program instructions executable by a processor to implement the methods and/or aspects of the various embodiments of the present application described above.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In some embodiments, the software program of the present application may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (8)
1. A dynamic environment area operation and maintenance method for a mobile robot, wherein the method comprises:
Acquiring operation and maintenance area information appointed by a user, and generating a corresponding operation and maintenance map according to an original map and the operation and maintenance area information;
Positioning the mobile robot by using sensor information of the mobile robot and the operation and maintenance map, wherein the method comprises the following steps: (a) Acquiring laser radar observation information z, mileage count u and operation and maintenance map B at the current moment; (b) If the mileage count u from the last time to the current time of positioning is greater than a preset distance or angle threshold, calculating a positioning result of the current time of the mobile robot and a matching value based on the positioning result by using laser radar observation information z and information of an operation and maintenance map B through a point cloud matching algorithm;
updating the operation and maintenance map according to the positioning and sensor information of the mobile robot, comprising: calculating a grid set P passing by a line segment taking the positioning result as a starting point and the ranging point as an ending point on the operation and maintenance map B according to each ranging point (d_i, alpha_i) in the current laser radar observation information of the mobile robot and the current positioning result (r_x, r_y, theta) of the mobile robot; and for any grid in the grid set P, if the position (x, y) of the grid is in the range corresponding to the operation and maintenance area information, updating the description value B (x, y) of the grid according to a measurement model, namely updating the operation and maintenance map.
2. The method of claim 1, wherein the method further comprises:
and if the map resetting condition is met, resetting the operation and maintenance map.
3. The method of claim 2, wherein the map reset condition comprises at least any one of:
The difference value between the time t-1 of the last resetting operation and maintenance map and the current time t is larger than a preset time threshold;
the difference between the operation and maintenance map and the original map is greater than a predetermined difference threshold.
4. The method of claim 1, wherein updating the operation and maintenance map according to the positioning and sensor information of the mobile robot comprises:
and updating a part corresponding to the operation and maintenance area information in the operation and maintenance map according to the positioning and sensor information of the mobile robot.
5. The method of claim 1, wherein locating the mobile robot using sensor information of the mobile robot, the operation and maintenance map, further comprises:
If the mileage count u from the last time to the current time is smaller than the predetermined distance or angle threshold, the step (a) is skipped.
6. A dynamic environment area operation and maintenance device for a mobile robot, wherein the device comprises:
The initial module is used for acquiring the operation and maintenance area information appointed by the user and generating a corresponding operation and maintenance map according to the original map and the operation and maintenance area information;
The positioning module is configured to position the mobile robot by using sensor information of the mobile robot and the operation and maintenance map, and includes: (a) Acquiring laser radar observation information z, mileage count u and operation and maintenance map B at the current moment; (b) If the mileage count u from the last time to the current time of positioning is greater than a preset distance or angle threshold, calculating a positioning result of the current time of the mobile robot and a matching value based on the positioning result by using laser radar observation information z and information of an operation and maintenance map B through a point cloud matching algorithm;
An operation and maintenance map updating module, configured to update the operation and maintenance map according to the positioning and sensor information of the mobile robot, including: calculating a grid set P passing by a line segment taking the positioning result as a starting point and the ranging point as an ending point on the operation and maintenance map B according to each ranging point (d_i, alpha_i) in the current laser radar observation information of the mobile robot and the current positioning result (r_x, r_y, theta) of the mobile robot; and for any grid in the grid set P, if the position (x, y) of the grid is in the range corresponding to the operation and maintenance area information, updating the description value B (x, y) of the grid according to a measurement model, namely updating the operation and maintenance map.
7. A computing device, wherein the device comprises a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein the computer program instructions, when executed by the processor, trigger the device to perform the method of any one of claims 1 to 5.
8. A computer readable medium having stored thereon computer program instructions executable by a processor to implement the method of any of claims 1 to 5.
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