CN105241461A - Map creating and positioning method of robot and robot system - Google Patents
Map creating and positioning method of robot and robot system Download PDFInfo
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- CN105241461A CN105241461A CN201510784502.2A CN201510784502A CN105241461A CN 105241461 A CN105241461 A CN 105241461A CN 201510784502 A CN201510784502 A CN 201510784502A CN 105241461 A CN105241461 A CN 105241461A
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- 230000004807 localization Effects 0.000 claims description 9
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- 238000004364 calculation method Methods 0.000 claims description 2
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- 230000001360 synchronised effect Effects 0.000 abstract description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Automation & Control Theory (AREA)
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- Traffic Control Systems (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application of the invention discloses a map creating and positioning method of a robot. According to the method, the sensor data of a robot is transmitted to a cloud server through a wireless network, then the cloud server is used for creating a map and generating robot positioning information, and then the map information and the positioning information are transmitted to the robot and a user terminal through a wireless network. According to the map creating and positioning method, strong computing and resources storing of the cloud server are utilized to make up the deficiency of the onboard computing capacity of a robot, so that a complex robot algorithm can be operated, and robot synchronous positioning and navigation can be carried out on large-scale environment, so as to generate an environment map and a robot position. The application of the invention also discloses a mobile robot system adopting the method.
Description
Technical field
The present invention relates to the map building of robot and the robot system of localization method and use the method.
Background technology
Numerous technology and application of robot relate to the perception of robot to environment all in a large number, and user and robot is mutual.The perception of robot to surrounding environment is the map that the data basis that obtained by corresponding mode by a series of sensor is formed, namely to the space representation of environmental structure.The representation of this robot map can be different with sensing data type according to demand, but their fundamental purpose is in order to representation space structure, be convenient to robot in action on make rationally effective decision-making.After obtaining robot map, them are used to carry out alternately with robot with how allowing user's convenient and efficient, the factor that Ye Shi robot is important in its ease for use, hommization.
In traditional method, robot map is all generally online generation, namely utilizes the computational resource of institute of robot load, but but can be subject to the restriction of computational resource, can not use too complicated algorithm; Or use the generating mode of off-line, namely after collection obtains sensing data and stores, these data are taken out from robot and is placed on other computing machine to run, the advantage of this mode can utilize powerful computational resource and use more complicated and effective algorithm, but robot but can not be made to obtain map in real time and carry out real time kinematics and control.
Summary of the invention
The object of patented claim of the present invention is to provide a kind of map building of robot and localization method and robot system, to solve the problem in background technology.
The map building of the robot of the present patent application and the technical scheme of localization method comprise:
S1: robot pick-up transducers data;
S2: sensing data is sent to cloud server by wireless network by robot;
S3: cloud server is according to the sensing data establishment map received and to generation robot locating information;
S4: cartographic information and locating information are sent to robot and user terminal by wireless network by cloud server.
The technical scheme of the robot system of patented claim of the present invention is as follows:
A kind of robot system, it is characterized in that, comprise robot, cloud server and user terminal, described cloud server is connected with robot and user terminal respectively by wireless network, described robot comprises the sensor for detecting surrounding environment, described cloud server is used for creating map according to the sensing data of the robot received and positioning robot, and described user terminal is used for sending instruction to robot and showing cartographic information and robot localization information.
Further, the artificial sweeper of described machine, mobile air purifier, unmanned plane or underwater robot.
Further, described wireless network is WiFi network, 4G network, 5G network or blueteeth network.
Further, described cloud server is calculation machine cluster or high-performance computer.
Further, described user terminal is smart mobile phone, PDA, panel computer, notebook computer, cloud terminal or thin-client.
Further, described sensor comprises laser radar sensor, depth camera, stereoscopic vision camera.
Further, sonac, infrared sensor and crash sensor is also comprised.
Compared with prior art, the advantage of the present patent application is as follows:
The present invention utilizes powerful calculating and the storage resources of cloud server; make up the deficiency that robot plate carries computing power; complicated robot algorithm can be run, the synchronous position & navigation of robot can be carried out to extensive environment, build environment map and robot location.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the inventive method.
Fig. 2 is the structured flowchart of robot system of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention program is further elaborated.
As shown in Figure 2, robot system disclosed by the invention comprises robot, cloud server and user terminal, described cloud server is connected with robot and user terminal respectively by wireless network, described robot comprises the sensor for detecting surrounding environment, described cloud server is used for creating map according to the sensing data of the robot received and positioning robot, and described user terminal is used for sending instruction to robot and showing cartographic information and robot localization information.
Robot can be sweeper, unmanned aerial vehicle, the under water mobile robot such as mobile robot, mobile air purifier, mobile robot comprises the sensor for detecting surrounding environment, as one of laser radar sensor, depth camera, stereoscopic vision camera, and be aided with sonac, infrared sensor, crash sensor, odometer, gyroscope etc. carry out environmental data supplement or revise; Cloud server comprises business or the background server independently built or high-performance computer cluster; Wireless network comprises WiFi network, 4G network, 5G network and blueteeth network, or the hybrid network between them, and it can meet the requirement of real-time Transmission sensing data; User terminal comprises panel computer, smart mobile phone, PDA(personal digital assistant), notebook computer, cloud terminal, thin-client etc. have the mobile device of real interactive function.
Be described the inventive method for sweeper below, the sweeper in the present embodiment comprises MCU, binocular depth video camera, image capture module, odometer, gyroscope, data acquisition module, motion module, bluetooth communication and memory module.As shown in Figure 1, the map building of robot disclosed by the invention and localization method comprise four steps:
S1: robot pick-up transducers data.
The image capture module of sweeper obtains depth information by binocular depth video camera, namely utilizes binocular range measurement principle to obtain the depth map of three-dimensional environment; Data acquisition module Real-time Collection mileage takes into account gyroscope information, i.e. the displacement of sweeper and angle.
S2: sensing data is sent to cloud server by wireless network by robot.
Depth information (depth map of three-dimensional environment) and mileage are taken into account gyroscope information and are sent to cloud server by bluetooth communication by sweeper.
S3: cloud server is according to the sensing data establishment map received and to generation robot locating information.
Cloud server (high-performance computer) utilizes depth information to carry out binocular ranging and disparity computation, by finding out the corresponding relation between often pair of image, according to principle of triangulation, obtain disparity map, then the 3 dimensional drawing of the depth information of original image is obtained very much according to projection model, namely create map, then store; Meanwhile, obtained the world coordinates of sweeper by the displacement of odometer and gyrostatic view parameter, i.e. the locating information of sweeper, and store.
S4: cartographic information and locating information are sent to robot and user terminal by wireless network by cloud server.
The cartographic information of storage and the information of sweeper are sent to sweeper and user terminal (as smart mobile phone) by bluetooth by cloud server, and be presented in user terminal by visual mode, namely user terminal can show map and the coordinate of sweeper on map of cloud server generation, mobile terminal can control the position of robot and range of movement, also can input motion and work that instruction controls sweeper.
Be more than the detailed description of preferred embodiment of the present invention, do not assert that the present invention is confined to these explanations.For general technical staff of the technical field of the invention; being equal to without departing from the inventive concept of the premise, substitutes or is obviously out of shape; and performance or purposes identical, all should be considered as in protection domain that claims that the present invention submits to determine.
Claims (8)
1. the map building of robot and a localization method, is characterized in that, described in comprise the following steps,
S1: robot pick-up transducers data;
S2: sensing data is sent to cloud server by wireless network by robot;
S3: cloud server creates map according to the sensing data received and generates robot locating information;
S4: cartographic information and locating information are sent to robot and user terminal by wireless network by cloud server.
2. a robot system, it is characterized in that, comprise robot, cloud server and user terminal, described cloud server is connected with robot and user terminal respectively by wireless network, described robot comprises the sensor for detecting surrounding environment, described cloud server is used for creating map according to the sensing data of the robot received and positioning robot, and described user terminal is used for sending instruction to robot and showing cartographic information and robot localization information.
3. as the robot system of right on request as described in 2, it is characterized in that, the artificial sweeper of described machine, mobile air purifier, unmanned plane or underwater robot.
4. as the robot system of right on request as described in 2, it is characterized in that, described wireless network is WiFi network, 4G network, 5G network or blueteeth network.
5. as the robot system of right on request as described in 2, it is characterized in that, described cloud server is calculation machine cluster or high-performance computer.
6. as the robot system of right on request as described in 2, it is characterized in that, described user terminal is smart mobile phone, PDA, panel computer, notebook computer, cloud terminal or thin-client.
7. as the robot system of right on request as described in 2, it is characterized in that, described sensor is laser radar sensor, depth camera or stereoscopic vision camera.
8. as the robot system of right on request as described in 7, it is characterized in that, also comprise sonac, infrared sensor or crash sensor.
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| CN201510784502.2A CN105241461A (en) | 2015-11-16 | 2015-11-16 | Map creating and positioning method of robot and robot system |
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| CN201510784502.2A CN105241461A (en) | 2015-11-16 | 2015-11-16 | Map creating and positioning method of robot and robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105571588A (en) * | 2016-03-10 | 2016-05-11 | 赛度科技（北京）有限责任公司 | Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map |
| CN105759840A (en) * | 2016-03-03 | 2016-07-13 | 陈健强 | Hotel seat occupying implementation method and system based on unmanned plane |
| CN106094838A (en) * | 2016-08-09 | 2016-11-09 | 衣佳鑫 | Intelligent control method based on robot and system |
| CN106936895A (en) * | 2017-02-14 | 2017-07-07 | 上海庆科信息技术有限公司 | A kind of Cloud Server, sweeper and sweeper control system |
| CN107450557A (en) * | 2017-09-10 | 2017-12-08 | 南京中高知识产权股份有限公司 | A kind of sweeping robot method for searching based on high in the clouds memory |
| CN107515002A (en) * | 2016-06-17 | 2017-12-26 | 趣之科技（深圳）有限公司 | A kind of systems approach and device that the real-time indoor map structure of robot and location navigation are realized based on LiDAR and cloud computing |
| CN108279428A (en) * | 2017-01-05 | 2018-07-13 | 武汉四维图新科技有限公司 | Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station |
| CN108572647A (en) * | 2018-07-24 | 2018-09-25 | 南京阿凡达机器人科技有限公司 | A kind of smart home management method and management platform based on mobile robot |
| CN109269506A (en) * | 2018-10-31 | 2019-01-25 | 北京猎户星空科技有限公司 | Map creating method, device, robot and the system of mobile robot |
| CN109274739A (en) * | 2018-09-17 | 2019-01-25 | 西安万像电子科技有限公司 | Data transmission method and device |
| CN109923490A (en) * | 2016-11-08 | 2019-06-21 | 德国福维克控股公司 | Method for running the robot automatically moved |
| WO2019126957A1 (en) * | 2017-12-25 | 2019-07-04 | 深圳前海达闼云端智能科技有限公司 | Terminal-cloud combined positioning method and apparatus, electronic device and computer program product |
| CN110127009A (en) * | 2019-05-08 | 2019-08-16 | 北京航天控制仪器研究所 | A kind of untetheredization communication submariner device |
| CN110515381A (en) * | 2019-08-22 | 2019-11-29 | 浙江迈睿机器人有限公司 | Multi-sensor Fusion algorithm for positioning robot |
| CN110865636A (en) * | 2018-08-10 | 2020-03-06 | 深圳先进技术研究院 | Cloud robot navigation system based on Docker container and working method thereof |
| US10612934B2 (en) | 2018-01-12 | 2020-04-07 | General Electric Company | System and methods for robotic autonomous motion planning and navigation |
| EP3675534A1 (en) * | 2018-12-24 | 2020-07-01 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Sweeper, server, sweeper control method and sweeper control system |
| CN111435247A (en) * | 2018-12-26 | 2020-07-21 | 沈阳新松机器人自动化股份有限公司 | Robot control method and system and cleaning robot |
| CN111624994A (en) * | 2020-05-08 | 2020-09-04 | 合肥科大智能机器人技术有限公司 | Robot inspection method based on 5G communication |
| CN111795701A (en) * | 2020-07-09 | 2020-10-20 | 上海有个机器人有限公司 | Remote recovery positioning method and device for robot |
| CN112836004A (en) * | 2021-03-05 | 2021-05-25 | 上海有个机器人有限公司 | Method and system for creating robot positioning map, computer equipment and storage medium |
| CN112890695A (en) * | 2021-03-25 | 2021-06-04 | 广东爱兰仕科技有限公司 | Obstacle avoidance system of sweeping robot |
| CN113503876A (en) * | 2021-07-09 | 2021-10-15 | 深圳华芯信息技术股份有限公司 | Multi-sensor fusion laser radar positioning method, system and terminal |
| CN113608538A (en) * | 2021-08-04 | 2021-11-05 | 联想新视界(南昌)人工智能工研院有限公司 | Control service integration method of underwater robot based on 5G edge calculation |
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| CN105759840A (en) * | 2016-03-03 | 2016-07-13 | 陈健强 | Hotel seat occupying implementation method and system based on unmanned plane |
| CN105571588A (en) * | 2016-03-10 | 2016-05-11 | 赛度科技（北京）有限责任公司 | Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map |
| CN107515002A (en) * | 2016-06-17 | 2017-12-26 | 趣之科技（深圳）有限公司 | A kind of systems approach and device that the real-time indoor map structure of robot and location navigation are realized based on LiDAR and cloud computing |
| CN106094838A (en) * | 2016-08-09 | 2016-11-09 | 衣佳鑫 | Intelligent control method based on robot and system |
| CN109923490A (en) * | 2016-11-08 | 2019-06-21 | 德国福维克控股公司 | Method for running the robot automatically moved |
| CN108279428A (en) * | 2017-01-05 | 2018-07-13 | 武汉四维图新科技有限公司 | Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station |
| CN106936895A (en) * | 2017-02-14 | 2017-07-07 | 上海庆科信息技术有限公司 | A kind of Cloud Server, sweeper and sweeper control system |
| CN107450557A (en) * | 2017-09-10 | 2017-12-08 | 南京中高知识产权股份有限公司 | A kind of sweeping robot method for searching based on high in the clouds memory |
| WO2019126957A1 (en) * | 2017-12-25 | 2019-07-04 | 深圳前海达闼云端智能科技有限公司 | Terminal-cloud combined positioning method and apparatus, electronic device and computer program product |
| US10612934B2 (en) | 2018-01-12 | 2020-04-07 | General Electric Company | System and methods for robotic autonomous motion planning and navigation |
| CN108572647A (en) * | 2018-07-24 | 2018-09-25 | 南京阿凡达机器人科技有限公司 | A kind of smart home management method and management platform based on mobile robot |
| CN110865636A (en) * | 2018-08-10 | 2020-03-06 | 深圳先进技术研究院 | Cloud robot navigation system based on Docker container and working method thereof |
| CN109274739A (en) * | 2018-09-17 | 2019-01-25 | 西安万像电子科技有限公司 | Data transmission method and device |
| CN109269506A (en) * | 2018-10-31 | 2019-01-25 | 北京猎户星空科技有限公司 | Map creating method, device, robot and the system of mobile robot |
| US10938912B2 (en) | 2018-12-24 | 2021-03-02 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Sweeper, server, sweeper control method and sweeper control system |
| EP3675534A1 (en) * | 2018-12-24 | 2020-07-01 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Sweeper, server, sweeper control method and sweeper control system |
| CN111435247A (en) * | 2018-12-26 | 2020-07-21 | 沈阳新松机器人自动化股份有限公司 | Robot control method and system and cleaning robot |
| CN110127009A (en) * | 2019-05-08 | 2019-08-16 | 北京航天控制仪器研究所 | A kind of untetheredization communication submariner device |
| CN110515381A (en) * | 2019-08-22 | 2019-11-29 | 浙江迈睿机器人有限公司 | Multi-sensor Fusion algorithm for positioning robot |
| CN111624994A (en) * | 2020-05-08 | 2020-09-04 | 合肥科大智能机器人技术有限公司 | Robot inspection method based on 5G communication |
| CN111795701B (en) * | 2020-07-09 | 2022-06-21 | 上海有个机器人有限公司 | Remote recovery positioning method and device for robot |
| CN111795701A (en) * | 2020-07-09 | 2020-10-20 | 上海有个机器人有限公司 | Remote recovery positioning method and device for robot |
| CN112836004A (en) * | 2021-03-05 | 2021-05-25 | 上海有个机器人有限公司 | Method and system for creating robot positioning map, computer equipment and storage medium |
| CN112890695A (en) * | 2021-03-25 | 2021-06-04 | 广东爱兰仕科技有限公司 | Obstacle avoidance system of sweeping robot |
| CN113503876A (en) * | 2021-07-09 | 2021-10-15 | 深圳华芯信息技术股份有限公司 | Multi-sensor fusion laser radar positioning method, system and terminal |
| CN113503876B (en) * | 2021-07-09 | 2023-11-21 | 深圳华芯信息技术股份有限公司 | Multi-sensor fusion laser radar positioning method, system and terminal |
| CN113608538A (en) * | 2021-08-04 | 2021-11-05 | 联想新视界(南昌)人工智能工研院有限公司 | Control service integration method of underwater robot based on 5G edge calculation |
| CN114373148A (en) * | 2021-12-24 | 2022-04-19 | 达闼机器人有限公司 | Cloud robot mapping method, system, equipment and storage medium |
| WO2023115927A1 (en) * | 2021-12-24 | 2023-06-29 | 达闼机器人股份有限公司 | Cloud robot mapping method, system, device and storage medium |
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Effective date of registration: 20161110 Address after: 518057 Guangdong city of Shenzhen province Nanshan District Guangdong streets High-tech Park North Beihuan Road No. 9018 building B building 3 layer's innovation Applicant after: SHENZHEN 3IROBOTIX Co.,Ltd. Address before: Nanshan District Guangdong streets south ring road of Shenzhen city Guangdong province 518057 No. 29 students start building room 1003 Applicant before: SHENZHEN SHANCHUAN TECHNOLOGY Co.,Ltd. |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: A District No. 9018 building 518057 Guangdong Han innovation city of Shenzhen province Nanshan District high tech park, North Central Avenue, 5 floor Room 501 Applicant after: SHENZHEN 3IROBOTIX Co.,Ltd. Address before: 518057 Guangdong city of Shenzhen province Nanshan District Guangdong streets High-tech Park North Beihuan Road No. 9018 building B building 3 layer's innovation Applicant before: SHENZHEN 3IROBOTIX Co.,Ltd. |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160113 |