CN105910599A - Robot device and method for locating target - Google Patents
Robot device and method for locating target Download PDFInfo
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- CN105910599A CN105910599A CN201610235297.9A CN201610235297A CN105910599A CN 105910599 A CN105910599 A CN 105910599A CN 201610235297 A CN201610235297 A CN 201610235297A CN 105910599 A CN105910599 A CN 105910599A
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- robot device
- auxiliary device
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
A robot device comprises at least accessory equipment. The robot device further comprises a map building unit used for scanning surrounding environment data and building a map according to the surrounding environment data; a target search unit used for identifying the at least accessory equipment and simultaneously detecting distance and angle data of the at least accessory equipment relative to the robot device; and a target location unit used for judging the accurate position of the at least accessory equipment in the map according to the map and the detected distance and angle data. The invention also provides a method for locating a target by the robot device. Through the robot device and its target location method, cooperation between the robot device and the accessory equipment can be more accurate and flexible.
Description
Technical field
The present invention relates to robot field, in particular to a kind of robot device and location object thereof
Method.
Background technology
In recent years, along with development and the progress of science and technology, robot product emerges in an endless stream, and with sweeping robot is
The robot product represented enters huge numbers of families especially, defines the powerful market demand and power of influence.Intelligence
Robot has certain intellectuality because of it, is substantially the operation without user, it is possible in certain scope
The function action that interior execution is relevant, and robot may require that in indoor and carries out function operation with auxiliary device, all
Such as charging, take thing etc., here relate to location and the identification of robot and the relative position of auxiliary device.
In robot and the searching of auxiliary device position and function operation afterwards, topmost technological difficulties exist
Relative localization between robot and auxiliary device, identification.In the art, intelligent robot location
Auxiliary device mainly has four kinds of modes: has employing infrared ray to position, have ultrasonic radar location, have bluetooth fixed
Position, also WIFITMSignal power positions: although 1. infrared ray location precision is higher, but owing to being this light
Line cannot penetrate object so that infrared ray is merely able in horizon range inner position, just loses if there being thing to block
Remove signal；2. using ultrasonic locating to find auxiliary device, ultrasound wave is mainly come by reflective range finding
Location object, is similar to Vespertilio and calculates object and the distance of oneself by triangle polyester fibre, and ultrasonic ranging is subject to
External interference and non-line-of-sight propagation impact are very big, require higher to the manufacturing cost of circuit, and practicality is managed not
Think；3. the third is exactly Bluetooth technology, and bluetooth is positioned by the intensity measuring model, and its power compares
Low, the alignment system volume manufactured by bluetooth is smaller, be very easy to be integrated in robot circuit, but
Being to use this technology, its function can only be the radiation of distance radius formula, exceedes this distance radius signal and subtracts
Weak prompting, it is impossible to know orientation and relative distance accurately；4. last a kind of Wifi signal power location and
Bluetooth is similar to, and its cost is higher, and cost performance is the highest.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of robot device with optical scanner and
Location object method, by scanning recognition with the object of optical interrogation features, obtains object simultaneously
Distance and the data such as angle, and then realize relative localization.
The robot device provided in embodiment of the present invention, including at least one auxiliary device, described machine
People's equipment farther includes: unit set up by map, is used for scanning surrounding enviroment data, and according to described periphery
Environmental data sets up map；Object searching unit, is used for identifying at least one auxiliary device described, and simultaneously
Detecting at least one auxiliary device described is relative to the distance of described robot device, angle-data；Target is fixed
Bit location, for according to described map and detect described distance, angle-data judges that described at least one is attached
Genus equipment accurate location in described map.
Preferably, described auxiliary device has optical interrogation features.
Preferably, described optical interrogation features is chequered with black and white bar code.
Preferably, described secret note code is and described informal voucher code place plane minute surface at an angle.
Preferably, described optical interrogation features is the reflecting surface of uneven setting.
The robot device provided in embodiment of the present invention positions object method, is applied to robot and sets
Standby, described robot device includes at least one auxiliary device, including: scanning surrounding enviroment data, and depend on
Map is set up according to described surrounding enviroment data；Identify at least one auxiliary device described, and detecting is described simultaneously
At least one auxiliary device is relative to the distance of described robot device, angle-data；According to described map with
And detect described distance, described at least one auxiliary device accurate position in described map of angle-data judgement
Put.
Preferably, described auxiliary device has optical interrogation features.
Preferably, described optical interrogation features is dark alternate bar code.
Preferably, described secret note code is and described informal voucher code place plane minute surface at an angle.
Preferably, described optical interrogation features is the reflecting surface of uneven setting.
Above-mentioned robot device and localization method are so that robot device more assisted with coordinating of auxiliary device
Adjust.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as to the present invention's
Limit.
Accompanying drawing explanation
Fig. 1 is the applied environment figure of robot device one embodiment of the present invention.
Fig. 2 is the functional block diagram of robot device one embodiment of the present invention.
Fig. 3 is the flow chart that robot device of the present invention positions object method one embodiment.
Following detailed description of the invention will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only some embodiments of the present application rather than
Whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creation
Property work premise under the every other embodiment that obtained, broadly fall into the scope of the application protection.
Fig. 1 is the applied environment figure of robot device 10 1 detailed description of the invention of the present invention.In FIG,
Robot device 10 is in indoor environment, and it includes at least one object, and in the present invention, we claim
Object is auxiliary device 11, and for example, auxiliary device 11 can be charging pile, it is also possible to for tool spy
Determine the function device of function, such as there is the receiver of storage function.
Fig. 2 is the functional block diagram of robot device 10 1 detailed description of the invention of the present invention.As in figure 2 it is shown,
Robot device 10 includes that map sets up unit 100, object searching unit 102, target positioning unit 104.
Map is set up unit 100 and is scanned surrounding enviroment data, and sets up ground according to described surrounding enviroment data
Figure.In the present embodiment, unit 100 set up by map can scan surrounding enviroment data by optical device,
For example, described optical device can be laser radar and depth camera, robot device 10
The when of just startup, robot device can keep kinestate and go out plane environment by Laser Radar Scanning,
Map is set up the unit 100 plane environment that foundation Laser Radar Scanning goes out again and is set up the plane earth of indoor environment
Figure, further, map is set up unit 100 and is being obtained interior space barrier by depth camera
Stereoscopic image, is added to stereoscopic image in plane map simultaneously, forms three-dimensional map.So machine
People's equipment 10 can pass through these cartographic informations, implements indoor autonomous location and navigation, and by this
A little cartographic informations, robot device 10 is easy to judge the position of self.
Object searching unit 102 identifies at least one auxiliary device 11 described, and described in detecting simultaneously at least
One auxiliary device 11 is relative to the distance of described robot device, angle-data.In the present embodiment,
Object searching unit 102 equally utilizes optical device to identify auxiliary device 11 and to detect this and attached set
Standby 11 relative to the distance angle of robot device.Specifically, the surface of auxiliary device 11 carries bright
Aobvious optical interrogation features, such feature can have following methods to realize: utilizes different materials to infrared
Reflection different with the situation of absorption, post the bar chip (the most chequered with black and white bar code) of light and half-light,
Light bar chip uses highly reflective material, general white shape, and half-light bar chip uses high-selenium corn material,
Being typically black powder, the width of bar code block can design on demand, and the information that the detection of such optical device comes is just
There will be similar digital coding, by different combinations, represent different identity；Otherwise for above-mentioned black
The most alternate bar code, its half-light bar chip can also replace with a minute surface, this minute surface and light bar chip institute
In plane at an angle, so, the detection light of optical device can be reflected by light bar chip, and
The detection light of optical device is then reflexed to elsewhere by minute surface, and so, optical device can obtain class
Detection results like above-mentioned chequered with black and white bar code.Auxiliary device 11 can also be passed through in other embodiments
Surface carry out concavo-convex process, form concavo-convex reflecting surface, when optical device near auxiliary device 11 when,
Form the coding of " bow " font, the most just can characterize the identity of auxiliary device 11.For auxiliary device 11
On optical identification indicate, the methods such as it can pass through punching press via, and bar code attaches, direct reflection realization.
In the present embodiment, above-mentioned map sets up unit 100 and object searching unit 102 light
Equipment is laser radar or depth camera, for those skilled in the art, and laser radar or degree of depth phase
Machine is possible not only to for setting up space map, simultaneously the most also because its operation principle can detect the position of object with
And angle, in combination with above-mentioned laser radar or the explanation of depth camera identification object, above-mentioned target search
Unit 102 can readily identify object, can also obtain simultaneously object relative to himself angle with
And data.
Target positioning unit 104 according to described map and detect described distance, angle-data judge described in extremely
Few auxiliary device 11 accurate location in described map.In the present embodiment, target location is single
The data that object searching unit obtains are set up the map that unit 100 sets up by unit 104 with map mates,
And then know the auxiliary device 11 relative position relative to robot device 10.In the present embodiment, than
If auxiliary device 11 is a cradle, after confirming relative position, robot device 10 can foundation
Its relative position moves；The most such as auxiliary device 11 is the function box with locomotive function, at machine
After people's equipment 10 be realised that the position of this auxiliary device 11, it is also possible to send position data to this auxiliary device
11, and then control this auxiliary device 11 and move to robot device 10.
Fig. 3 is the flow chart of robot device 10 localization method one embodiment of the present invention.Flow process shown in it
Method is applied to the robot device 10 shown in Fig. 2.
Step S300, map sets up unit 100 and scans surrounding enviroment data, and according to described surrounding enviroment
Data set up map.In the present embodiment, map set up unit 100 can by optical device scanning week
Surrounding environment data, for example, described optical device can be laser radar and depth camera, at machine
The when that people's equipment 10 initial starting up, robot device can keep rotation attitude and pass through Laser Radar Scanning
Going out plane environment, the indoor ring of plane environment foundation that unit 100 goes out again set up according to Laser Radar Scanning by map
The plane map in border, further, map is set up unit 100 and is being obtained Interior Space by depth camera
Between the stereoscopic image of barrier, stereoscopic image is added in plane map simultaneously, forms three-dimensional map.
So robot device 10 can pass through these cartographic informations, implements indoor autonomous location and navigation, and
And by these cartographic informations, robot device 10 is easy to judge the position of self.
Step S302, object searching unit 102 identifies at least one auxiliary device described, and detects simultaneously
At least one auxiliary device described is relative to the distance of described robot device, angle-data.This embodiment party
In formula, object searching unit 102 equally utilizes optical device to identify auxiliary device and to detect this attached
Equipment is relative to the distance angle of robot device.Specifically, the surface of auxiliary device carries significantly
Optical interrogation features, such feature can have following methods to realize: utilizes different materials to infrared anti-
Situation about penetrating and absorb is different, posts the bar chip of light and half-light, and light bar chip uses high reflectance material
Material, general white shape, half-light bar chip uses high-selenium corn material, is typically black powder, the width of bar code block
Degree can design on demand, and the information that the detection of such optical device comes arises that similar digital coding, logical
Cross different combinations, represent different identity；Otherwise for above-mentioned chequered with black and white bar code, its half-light bar
Chip can also replace with a minute surface, this minute surface and light bar chip place plane at an angle, so,
The detection light of optical device can be reflected by light bar chip, and minute surface is then by the detection light of optical device
Line is reflexed to elsewhere, and so, optical device can obtain the detection of similar above-mentioned chequered with black and white bar code
Effect.In other embodiments, it is also possible to carry out concavo-convex process by the surface of auxiliary device, formed recessed
Convex flat face, when optical device near auxiliary device when, formed " bow " font coding, the most just may be used
Characterize the identity of auxiliary device.Indicating for the optical identification on auxiliary device, it can pass through punching press via,
The methods such as bar code attaching, direct reflection realize.
In the present embodiment, above-mentioned map sets up unit 100 and object searching unit 102 light
Equipment is laser radar or depth camera, for those skilled in the art, and laser radar or degree of depth phase
Machine is possible not only to for setting up space map, simultaneously the most also because its operation principle can detect the position of object with
And angle, in combination with above-mentioned laser radar or the explanation of depth camera identification object, above-mentioned target search
Unit 102 can readily identify object, and can also obtain object phase while identifying object
Angle and data for himself.
Step S304, target positioning unit 104 is according to described map and detects described distance, angle number
It is judged that the accurate location that at least one auxiliary device described is in described map.In the present embodiment, mesh
Demarcate the data that obtained by object searching unit of bit location 104 and map is set up the map that unit 100 sets up and entered
Row coupling, and then know the auxiliary device 11 relative position relative to robot device 10.This embodiment party
In formula, such as auxiliary device 11 is a cradle, and after confirming relative position, robot device 10
Can move according to its relative position；The most such as auxiliary device is the auxiliary device with locomotive function,
After robot device 10 be realised that the position of this auxiliary device, it is also possible to send position data attached to this
Equipment, and then control this auxiliary device and move to robot device 10.
By above-mentioned robot device and location object method, can make the robot device can in indoor environment
Carry out self poisoning easily, it is also possible to position other objects easily, so convenient flexibly and
Object coordinates.
Above a kind of robot device provided by the present invention and localization method are described in detail, herein
In apply specific case principle and the embodiment of the present invention be set forth, the explanation of above example
It is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for those skilled in the art,
According to the thought of the embodiment of the present invention, the most all will change, combine
Upper described, this specification content should not be construed as limitation of the present invention.
Claims (10)
1. robot device positions an object method, is applied to robot device, described robot device
Including at least one auxiliary device, it is characterised in that including:
Scanning surrounding enviroment data, and set up map according to described surrounding enviroment data；
Identify at least one auxiliary device described, and at least one auxiliary device described of detecting simultaneously is relative to institute
State the distance of robot device, angle-data；And
According to described map and detect described distance, angle-data judges that at least one auxiliary device described exists
Accurate location in described map.
2. robot device as claimed in claim 1 positions object method, it is characterised in that described
Auxiliary device has optical interrogation features.
3. robot device as claimed in claim 2 positions object method, it is characterised in that described light
Knowledge is not characterized as dark alternate bar code.
4. robot device as claimed in claim 3 positions object method, it is characterised in that described black
Bar code is and described informal voucher code place plane minute surface at an angle.
5. robot device's localization method as claimed in claim 2, it is characterised in that described optical identification
It is characterized as the reflecting surface of uneven setting.
6. a robot device, including at least one auxiliary device, it is characterised in that described robot sets
For farther including:
Unit set up by map, is used for scanning surrounding enviroment data, and sets up ground according to described surrounding enviroment data
Figure；
Object searching unit, is used for identifying at least one auxiliary device described, and described in detecting simultaneously at least one
Individual auxiliary device is relative to the distance of described robot device, angle-data；And
Target positioning unit, is used for according to described map and detects described in described distance, angle-data judgement
At least one auxiliary device accurate location in described map.
7. robot device as claimed in claim 6, it is characterised in that described auxiliary device has optics
Identify feature.
8. robot device as claimed in claim 7, it is characterised in that described optical interrogation features is black
Bar code between dark phase.
9. robot device as claimed in claim 8, it is characterised in that described secret note code be with described in vain
Bar code place plane minute surface at an angle.
10. robot device as claimed in claim 7, it is characterised in that described optical interrogation features is
The reflecting surface of uneven setting.
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| CN201610235297.9A CN105910599A (en) | 2016-04-15 | 2016-04-15 | Robot device and method for locating target |
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| CN106843280A (en) * | 2017-02-17 | 2017-06-13 | 深圳市踏路科技有限公司 | A kind of intelligent robot system for tracking |
| CN107133545A (en) * | 2017-06-08 | 2017-09-05 | 东北大学 | A kind of stero barcode, recognition methods and indoor auxiliary map constructing method |
| CN108007451A (en) * | 2017-11-10 | 2018-05-08 | 未来机器人（深圳）有限公司 | Detection method, device, computer equipment and the storage medium of cargo carrying device pose |
| CN108398947A (en) * | 2018-02-09 | 2018-08-14 | 弗徕威智能机器人科技（上海）有限公司 | A kind of cradle recognition methods |
| CN108549088A (en) * | 2018-04-27 | 2018-09-18 | 科沃斯商用机器人有限公司 | Localization method, equipment, system based on robot and storage medium |
| CN108742339A (en) * | 2018-06-06 | 2018-11-06 | 轻客小觅智能科技（北京）有限公司 | A kind of robot and precise positioning method |
| WO2019201228A1 (en) * | 2018-04-17 | 2019-10-24 | 菜鸟智能物流控股有限公司 | Position measurement method and position measurement device |
| WO2020062643A1 (en) * | 2018-09-26 | 2020-04-02 | 深圳乐动机器人有限公司 | Charging base applied to robot |
| CN110967703A (en) * | 2018-09-27 | 2020-04-07 | 广东美的生活电器制造有限公司 | Indoor navigation method and indoor navigation device using laser radar and camera |
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| CN108549088A (en) * | 2018-04-27 | 2018-09-18 | 科沃斯商用机器人有限公司 | Localization method, equipment, system based on robot and storage medium |
| CN108742339A (en) * | 2018-06-06 | 2018-11-06 | 轻客小觅智能科技（北京）有限公司 | A kind of robot and precise positioning method |
| WO2020062643A1 (en) * | 2018-09-26 | 2020-04-02 | 深圳乐动机器人有限公司 | Charging base applied to robot |
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