CN106643701A - Robot inter-detection method and robot inter-detection device - Google Patents
Robot inter-detection method and robot inter-detection device Download PDFInfo
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- CN106643701A CN106643701A CN201710029024.3A CN201710029024A CN106643701A CN 106643701 A CN106643701 A CN 106643701A CN 201710029024 A CN201710029024 A CN 201710029024A CN 106643701 A CN106643701 A CN 106643701A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a robot inter-detection method and a robot inter-detection device. The robot inter-detection method includes the following steps: a first robot acquires central coordinates of a second robot in a global map; the profile information of the second robot is acquired; profile coordinates of the second robot in the global map are worked out according to the profile information of the second robot and the central coordinates of the second robot in the global map; the profile coordinates of the second robot in the global map are converted into profile coordinates in a first local map, wherein the first local map is a local map of the first robot; and the second robot in the first local map is marked according to the profile coordinates of the second robot in the first local map. The solution of the invention can ensure that a plurality of single-line laser radar robots operating in the same building can quickly and accurately detect the position of one another, thus guaranteeing the normal operation of the plurality of robots.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of mutual detection method of robot and device.
Background technology
Indoor Robot needs in real time to detect surrounding in navigation.Current indoor mobile robot
The sensor main for using will have two classes：One kind is RGB depth (Red Green Blue Depth, RGB-D) photographic head or double
Mesh camera, another kind is laser radar.Because RGB-D photographic head is to be used as initial data by image information or point cloud information
Carry out obstacle detection, cause its operational data amount larger, also, its result is easily affected by indoor light, robustness compared with
Difference.And laser radar with data accurately, is not affected compared to RGB-D photographic head by ambient lighting, data volume is less to wait special
Point, thus be widely used in robot indoors, as " eyes " of Indoor Robot.Because multi-line laser radar into
This is higher, and single line laser radar is generally used at present.The robot of laser radar is installed, the necessary hollow out of its shell,
Barrier during the ray emission of laser radar can be allowed to go out to detect environment, thus when there is multiple robots indoors same
When running in floor, a robot can only see the radar of other robots, and cannot see the monolithic wheel of other robots
It is wide.But the physical size of radar is still too little for the overall profile of robot, which results in robot mutual
Between cannot carry out accurate position detection, have influence on robot operation indoors.
The content of the invention
The embodiment of the present invention provides a kind of mutual detection method of robot and device, it is intended to when running has multiple in building
During single line laser radar robot, position detection can be accurately carried out between robot.
The first aspect of the embodiment of the present invention, there is provided a kind of mutual detection method of robot, the robot is detected mutually
Method includes：
First robot obtains centre coordinate of second robot under global map；
Obtain the profile information of second robot；
Centre coordinate according to the profile information and second robot of second robot under global map, meter
Calculation obtains profile coordinate of second robot under global map；
It is the profile seat under the first local map by profile Coordinate Conversion of second robot under global map
Mark, wherein, first local map is the local map of first robot；
Under first local map, according to profile coordinate of second robot under the first local map, mark
Remember second robot.
The second aspect of the embodiment of the present invention, there is provided a kind of mutual detection means of robot, the robot is detected mutually
Device includes：
Centre coordinate acquiring unit, for obtaining centre coordinate of second robot under global map；
Profile information acquiring unit, for obtaining the profile information of second robot；
Profile coordinate calculating unit, the profile of the second robot for being got according to the profile information acquiring unit
Centre coordinate of the second robot that information and the centre coordinate acquiring unit get under global map, is calculated institute
State profile coordinate of second robot under global map；
Profile coordinate transformation unit, for by calculated second robot of the profile coordinate calculating unit in the overall situation
Profile Coordinate Conversion under map is the profile coordinate under the first local map, wherein, first local map is described
The local map of the first robot；
Second robot indexing unit, under first local map, according to the profile coordinate transformation unit
Profile coordinate of the second robot for obtaining under the first local map, the second robot described in labelling.
Therefore, in embodiments of the present invention, first by the second robot of acquisition of the first robot under global map
Centre coordinate, and subsequently obtain the profile information of second robot, then believed according to the profile of second robot
Centre coordinate under global map of breath and second robot, is calculated second robot under global map
Profile coordinate, in the profile Coordinate Conversion under global map is the profile under the first local map by second robot
Coordinate, wherein, first local map is the local map of first robot, finally in first local map
Under, according to profile coordinate of second robot under the first local map, the second robot described in labelling.The present invention is implemented
Example enables single line laser radar robot quickly to know the position of other robots, it is to avoid because shadow not in time is detected in position
Ring the operation to robot.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the flowchart of the mutual detection method of robot provided in an embodiment of the present invention；
Fig. 2 is the structured flowchart of the mutual detection means of robot provided in an embodiment of the present invention.
Specific embodiment
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described reality
It is only a part of embodiment of the invention to apply example, and not all embodiments.Based on the embodiment in the present invention, the common skill in this area
The every other embodiment that art personnel are obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
It is described in detail below in conjunction with realization of the specific embodiment to the present invention：
Embodiment one
Fig. 1 shows that the robot mutual detection method that the embodiment of the present invention one is provided realizes flow process, and details are as follows：
In step S101, the first robot obtains centre coordinate of second robot under global map.
In embodiments of the present invention, in order to better illustrate the scheme of the embodiment of the present invention, first to the first robot and
Second robot is briefly described.In all robots in same building thing, select wherein any one, as the present invention
The first robot in embodiment, and detect other robot locations using embodiment of the present invention scheme.Due to present invention offer
Be a kind of mutual detection method of robot, thus other all robots in addition to above-mentioned first robot can
As the second robot.In fact, because arbitrary robot can detect other machines using the scheme of the embodiment of the present invention
People, thus, above-mentioned first robot and the second robot can be selected according to practical situation, be not construed as limiting herein.
Above-mentioned first robot can obtain centre coordinate of above-mentioned second robot under global map.For indoor set
The navigation of device people, for its safety, it will usually before robot formally comes into operation, with positioning and map structuring immediately
Technology (Simultaneous Localization And Mapping, SLAM) builds indoor environment map, used as robot
Global map.Although by the priori map of SLAM technique constructions due to the Dynamic Uncertain factor such as mankind's activity, can cause with
There is little difference in map during robot actual motion, but it remains to reflect the environment residing for robot substantially.For complete
Local figure, existing main stream approach is to be represented using grating map.Grating map is and represents environment with grid one by one
Map, its coordinate axess unit is row or column.When there is barrier in somewhere in environment, the correspondence position of grating map also can be set
For obstacle, when somewhere does not have barrier in environment, it can be arranged to idle in the correspondence position of grating map.Utilize
The global map of SLAM technique constructions can allow robot to recognize the general situation of itself local environment, primarily determine that operation rail
Mark.Further, the coordinate position of the second robot for now getting, is the center of the second robot, and not
The outline position of two robots.It is believed that because robot can have different external shape, thus second for getting
The centre coordinate of robot can not truly reflect the robot manual space in the environment, it is then desired to obtaining
To centre coordinate position be for further processing.
Specifically, above-mentioned first robot can set up bluetooth connection with above-mentioned second robot, then by above-mentioned first
The host computer of robot obtains centre coordinate of above-mentioned second robot under world coordinate system by bluetooth, and according to above-mentioned complete
The relation with above-mentioned world coordinate system preserved in local figure, by centre coordinate of above-mentioned second robot under world coordinate system
Be converted to centre coordinate of above-mentioned second robot under global map.Wherein, world coordinate system is physical coordinates system, its coordinate
Axle unit is rice.It is initial that robot walks when SLAM technique construction global maps are utilized after initial start in operation area
Position is world coordinate system.After being finished using SLAM technique construction global maps, save in above-mentioned global map its with
Relation between above-mentioned world coordinate system.By the relation between above-mentioned global map and above-mentioned world coordinate system, it is possible to will
Coordinate under above-mentioned global map is changed with the coordinate under world coordinate system.And when each robot runs, robot
Coordinate of the current time oneself under world coordinate system can in real time be known by the alignment system of itself, therefore, above-mentioned
During the centre coordinate of the second robot that one robot gets is actually above-mentioned second robot under world coordinate system
Heart coordinate.Having got above-mentioned second robot after the centre coordinate under world coordinate system, above-mentioned first robot root again
According to preserve in the global map and relation between above-mentioned world coordinate system, above-mentioned second robot is obtained under global map
Centre coordinate.
In step s 102, the profile information of above-mentioned second robot is obtained.
In embodiments of the present invention, above-mentioned first robot can continue the profile information for obtaining above-mentioned second robot.
Because different machines people can have different external shape, thus, need to obtain the wheel corresponding with the second robot herein
Wide information.Wherein, the corresponding profile information of above-mentioned second robot can be associated with the central point of above-mentioned second robot.
Alternatively, because each robot possesses unique No. ID, for the wheel of above-mentioned second robot of quick obtaining
Wide information, before step S102, can first obtain the ID of above-mentioned second robot, and according to above-mentioned second robot
ID, determines the model of above-mentioned second robot.Wherein, because the ID of each robot is unique, thus can be according to getting
The ID of the second robot quickly knows the model of the second robot.After the model for having got above-mentioned second robot, can
According to the model of above-mentioned second robot, by different channels the profile information of above-mentioned second robot is obtained.For example, when
When above-mentioned second robot is differed with the model of above-mentioned first robot, then above-mentioned first robot can be preserved from itself
The profile information of above-mentioned second robot is searched in default robot profile information table；When above-mentioned second robot and above-mentioned
When the model of one robot is identical, then above-mentioned first robot can directly read the profile information of itself, and by the first machine
Profile information of the profile information of people itself as above-mentioned second robot.Wherein, above-mentioned default robot profile information table
The all robot models and corresponding profile information existed in operation area can be preserved, and can be by user according to operation
The robot of actual motion voluntarily increases classification or deletes classification in region.Because above-mentioned first robot can be according to above-mentioned
The ID of two robots quickly determines its model, then by searching above-mentioned default robot profile information table, can be with simple and convenient
Above-mentioned second robot of confirmation profile information.And when the model of above-mentioned second robot is identical with the first robot,
Above-mentioned second robot is completely the same with the appearance profile of above-mentioned first robot.Because above-mentioned first robot is necessarily known certainly
The profile information of body, thus only need to simply read the profile information of itself and using the profile information of itself as above-mentioned second machine
The profile information of device people.It is of course also possible to pass through the profile information that other methods obtain above-mentioned second robot, herein not
It is construed as limiting.If all robot models run in region are all consistent, above-mentioned default robot profile letter need not be preserved
Breath table.
In step s 103, according to the profile information and above-mentioned second robot of above-mentioned second robot under global map
Centre coordinate, be calculated profile coordinate of above-mentioned second robot under global map.
In embodiments of the present invention, the profile information and step of above-mentioned second robot for being got according to step S102
Centre coordinate of above-mentioned second robot that S101 gets under global map, is calculated above-mentioned second robot in the overall situation
Profile coordinate under map.Due to getting in the profile information of the second robot that gets in step S102 and step S101
The centre coordinate of the second robot be associated, thus above-mentioned second robot can be calculated and existed by the incidence relation
Profile coordinate under global map.
In step S104, by profile Coordinate Conversion of above-mentioned second robot under global map be first partly
Profile coordinate under figure.
In embodiments of the present invention, got profile of above-mentioned second robot under global map in step S103 to sit
After mark, it is first game that above-mentioned first robot can continue the profile Coordinate Conversion by above-mentioned second robot under global map
Profile coordinate under portion's map, wherein, above-mentioned first local map is the local map of above-mentioned first robot, and it is a kind of grid
Lattice map, coordinate axess unit is row or column.Local map is the basis that robot carries out Robot dodge strategy in navigation, with machine
The barrier in preset range centered on people can labelling wherein, it is moved with the movement of robot, constantly brush
Newly.Specifically, step S104 can be achieved in that：First above-mentioned second robot for getting is existed by above-mentioned first robot
Profile Coordinate Conversion under global map is the profile coordinate under the first robot coordinate system, then further according to first partly
The transformational relation with the first robot coordinate system that figure is preserved, by wheel of above-mentioned second robot under the first robot coordinate system
Wide Coordinate Conversion is the profile coordinate under the first local map.Above-mentioned robot coordinate system be robot using itself barycenter as
The coordinate system that zero builds, its coordinate axess unit is rice.
Alternatively, in due to step S104, profile coordinate of second robot under the first local map has only been got,
And robot actually not merely simply a profile or drive shell, thus, after step s 104, also include：In acquisition
State intrinsic coordinates of second robot under the first local map.
Wherein it is possible to transverse axis coordinate identical profile coordinate under the first local map is put in same priority queue,
And filter out the profile coordinate points that vertical coordinate is minimum and vertical coordinate is maximum in above-mentioned same priority queue.Can simply recognize
For under above-mentioned transverse axis coordinate, the ordinate of orthogonal axes scope that above-mentioned second robot is captured is the above-mentioned vertical coordinate for filtering out most
Little point is to the maximum point of vertical coordinate.By said method, you can get above-mentioned second robot under the first local map
All intrinsic coordinates.
In step S105, under above-mentioned first local map, according to above-mentioned second robot under the first local map
Profile coordinate, above-mentioned second robot of labelling.
In embodiments of the present invention, under above-mentioned first local map, according to second got in step S104
Profile coordinate of the robot under the first local map, marks above-mentioned second robot as barrier, wherein, above-mentioned first
Static layer, obstacle nitride layer and expanding layer are included in local map.Above-mentioned static layer is to build the static state obtained during global map
Figure layer；Above-mentioned obstacle nitride layer is the figure layer for being marked with the barrier that sensor is detected；Above-mentioned expanding layer is to above-mentioned obstacle
The barrier of nitride layer labelling has carried out the figure layer obtained after expansion process.In order to by above-mentioned second robot also first partly
Represented in figure, robot layer can be set up in above-mentioned first local map, wherein, above-mentioned robot layer and above-mentioned first
The size of local map, zero, change in coordinate axis direction and resolution are consistent；Above-mentioned second robot is then based on first
Profile coordinate under local map, according to algorithm (Point in Polygon, PNPoly) of the point in polygon, in above-mentioned machine
The grid captured by above-mentioned second robot is filtered out in device people's layer, and is labeled as barrier；In expanding layer, by above-mentioned obstacle
The grid for being marked as barrier in nitride layer and above-mentioned robot layer makees expansion process；Finally it is superimposed above-mentioned robot layer, quiet
State layer, obstacle nitride layer and expanding layer, complete under above-mentioned first local map to the labelling of above-mentioned second robot.
Wherein, the barrier in robot preset range is only shown due to the local map of robot, and above-mentioned second
Robot actually may beyond the first local map institute energy in the profile coordinate and intrinsic coordinates of the first local map
The scope of expression, may increase unnecessary amount of calculation in the operating process so in step S105, cause processing system
Burden increase.In order to avoid the generation of such case, in step S105, PNPoly algorithms are applied to, with can be correct
The grid captured by the second robot filtered out in the first local body of a map or chart, weed out not in the first local map model
Null contour coordinate and/or invalid intrinsic coordinates in enclosing.
Alternatively, in order to save the calculation resources of robot, after above-mentioned steps S101, above-mentioned robot is detected mutually
Method also includes：
Detect above-mentioned second robot whether in the preset range of above-mentioned first robot；
The profile information of above-mentioned second robot of above-mentioned acquisition, specially：When above-mentioned second robot is in above-mentioned first machine
When in the preset range of device people, the profile information of above-mentioned second robot is obtained.
Wherein, after centre coordinate information of above-mentioned second robot under global map has been got, Europe can be used
Euler's distance that above-mentioned second robot and the first robot are calculated apart from computing formula is drawn, it is above-mentioned according to above-mentioned Euler's distance
Whether the first robot can make a preliminary judgement, judge above-mentioned second robot in the preset range of the first robot.
Under normal circumstances, the scope that the local map of robot is represented be centered on robot, radius fix border circular areas or
The rectangular area that the length of side is fixed.It is apparent that when the first robot and the second robot be separated by tens of rice it is remote when, it is not necessary that
Position detection is carried out, only when the second robot is entered in the preset range of the first robot, is just necessary using this
Inventive embodiments scheme carries out position detection to it.The preset range of above-mentioned first robot can be configured by user,
Can by the first robot be voluntarily set to scope that the first local map can represent or be set to the first robot can
The scope of bluetooth connection is carried out, is not construed as limiting herein.
Therefore, in embodiments of the present invention, having in the region of multiple single line laser radar robot operations, it is arbitrary
Machine can obtain per capita the coordinate of other single line laser radar robots, and with reference to corresponding profile information, as barrier
Hinder substance markers in the local map of itself so that the position of other robots can quickly be known in single line laser radar robot
Put, it is to avoid because position detection has influence on not in time the operation of robot.
One of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method can be
Related hardware is instructed to complete by program, corresponding program can be stored in a computer read/write memory medium,
Above-mentioned storage medium, such as ROM/RAM, disk or CD.
Embodiment two
Fig. 2 shows the concrete structure block diagram of the mutual detection means of robot that the embodiment of the present invention two is provided, in order to just
In explanation, the part related to the embodiment of the present invention is illustrate only.The mutual detection means 2 of the robot includes：Centre coordinate is obtained
Take unit 21, profile information acquiring unit 22, profile coordinate calculating unit 23, profile coordinate transformation unit 24, the second robot
Indexing unit 25.
Wherein, centre coordinate acquiring unit 21, for obtaining centre coordinate of second robot under global map；
Profile information acquiring unit 22, for obtaining the profile information of above-mentioned second robot；
Profile coordinate calculating unit 23, for the second robot for being got according to above-mentioned profile information acquiring unit 22
Centre coordinate of the second robot that profile information and above-mentioned centre coordinate acquiring unit 21 get under global map, calculates
Obtain profile coordinate of above-mentioned second robot under global map；
Profile coordinate transformation unit 24, for calculated second robot of above-mentioned profile coordinate calculating unit 23 to be existed
Profile Coordinate Conversion under global map is the profile coordinate under the first local map, wherein, above-mentioned first local map is
The local map of above-mentioned first robot；
Second robot indexing unit 25, under above-mentioned first local map, according to above-mentioned profile Coordinate Conversion list
Profile coordinate of the second robot that unit 24 obtains under the first local map, above-mentioned second robot of labelling.
Alternatively, the mutual detection means 2 of above-mentioned robot, also includes：
Apart from detector unit, for detecting above-mentioned second robot whether in the preset range of above-mentioned first robot；
Above-mentioned profile information acquisition device 22, specifically for detecting above-mentioned second machine apart from detector unit when above-mentioned
When people is in the preset range of above-mentioned first robot, the profile information of above-mentioned second robot is obtained.
Alternatively, the mutual detection means 2 of above-mentioned robot also includes：
ID acquiring units, for obtaining the ID of above-mentioned second robot；
Model determining unit, the ID of the second robot for being got according to above-mentioned ID acquiring units determines above-mentioned
The model of two robots；
Above-mentioned profile information acquisition device 22, specifically for if the type of above-mentioned second robot and above-mentioned first robot
Number differ, then the profile information of above-mentioned second robot is searched from default robot profile information table, if above-mentioned second
Robot is identical with the model of above-mentioned first robot, then the profile information of above-mentioned first robot itself is read, as above-mentioned
The profile information of the second robot.
Alternatively, above-mentioned centre coordinate acquiring unit 21, including：
Connection establishment subelement, for setting up bluetooth connection with above-mentioned second robot；
World coordinates obtains subelement, for obtaining center of above-mentioned second robot under world coordinate system by bluetooth
Coordinate；
World coordinates conversion subunit, for according to the pass with above-mentioned world coordinate system preserved in above-mentioned global map
System, centre coordinate of the second robot that above-mentioned world coordinates acquisition subelement is got under world coordinate system is converted to
State centre coordinate of second robot under global map.
Alternatively, above-mentioned first local map includes：Static layer, obstacle nitride layer and expanding layer；Above-mentioned second robot
Indexing unit 25, including：
Robot layer arranges subelement, in above-mentioned first local map, setting up robot layer, wherein, above-mentioned machine
Device people layer is consistent with the size of above-mentioned first local map, zero, change in coordinate axis direction and resolution；
Robot barrier substance markers subelement, sits for the profile based on above-mentioned second robot under the first local map
Mark, filters out by above-mentioned second robot according to PNPoly algorithms in above-mentioned robot arranges the robot layer that subelement is set up
The grid for capturing, and it is labeled as barrier；
Barrier expands subelement, in expanding layer, will be marked as in above-mentioned obstacle nitride layer and robot layer
The grid of barrier makees expansion process；
Map overlay subelement, for being superimposed above-mentioned robot layer, static layer, obstacle nitride layer and expanding layer, completes upper
State under the first local map to the labelling of above-mentioned second robot.
It should be noted that the mutual detection means of robot in the embodiment of the present invention specifically can be in the way of software
(form of such as App) and/or the mode of hardware are integrated in robot.
Therefore, in embodiments of the present invention, having in the region of multiple single line laser radar robot operations, it is arbitrary
Machine can utilize per capita the mutual detection means of robot, obtain the coordinate of other single line laser radar robots, and with reference to right
The profile information answered, using other single line laser radar robots as obstacle tag in the local map of itself so that it is single
The position of other robots can quickly be known in line laser radar robot, it is to avoid the detection because of position has influence on machine not in time
The operation of people.
It should be noted that in several embodiments provided herein, it should be understood that disclosed device and side
Method, can realize by another way.For example, device embodiment described above is only schematic, for example, above-mentioned
The division of unit, only a kind of division of logic function can have other dividing mode, such as multiple units when actually realizing
Or component can with reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, institute
The coupling each other for showing or discussing or direct-coupling or communication connection can be by some interfaces, device or unit
INDIRECT COUPLING or communication connection, can be electrical, mechanical or other forms.
For aforesaid each method embodiment, for easy description, therefore it is all expressed as a series of combination of actions, but
It is that those skilled in the art should know, the present invention is not limited by described sequence of movement, because according to the present invention, certain
A little steps can adopt other orders or while carry out.Secondly, those skilled in the art also should know, be retouched in description
The embodiment stated belongs to preferred embodiment, and involved action and module might not all be necessary to the present invention.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, without the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiments.
It is more than to a kind of preferred embodiment provided by the present invention, for one of ordinary skill in the art, according to this
The thought of inventive embodiments, will change in specific embodiments and applications, and to sum up, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. the mutual detection method of a kind of robot, it is characterised in that the mutual detection method of the robot includes：
First robot obtains centre coordinate of second robot under global map；
Obtain the profile information of second robot；
Centre coordinate according to the profile information and second robot of second robot under global map, calculates
To profile coordinate of second robot under global map；
It is the profile coordinate under the first local map by profile Coordinate Conversion of second robot under global map, its
In, first local map is the local map of first robot；
Under first local map, according to profile coordinate of second robot under the first local map, labelling institute
State the second robot.
2. the mutual detection method of robot as claimed in claim 1, it is characterised in that first robot obtains the second machine
Centre coordinate of the device people under global map, also includes afterwards：
Detect second robot whether in the preset range of first robot；
The profile information for obtaining second robot, specially：When second robot is in first robot
Preset range in when, obtain the profile information of second robot.
3. the mutual detection method of robot as claimed in claim 1, it is characterised in that the acquisition second robot
Profile information, also includes before：
First robot obtains the ID of second robot；
According to the ID of second robot, the model of second robot is determined；
The profile information for obtaining second robot, specially：
If second robot is differed with the model of first robot, from default robot profile information table
Search the profile information of second robot；
If second robot is identical with the model of first robot, the profile of first robot itself is read
Information, as the profile information of second robot.
4. the mutual detection method of robot as described in any one of claims 1 to 3, it is characterised in that first robot
Centre coordinate of second robot under global map is obtained, including：
First robot sets up bluetooth connection with second robot；
The host computer of first robot obtains centre coordinate of second robot under world coordinate system by bluetooth；
According to the relation with the world coordinate system preserved in the global map, by second robot in world coordinates
Centre coordinate under system is converted to centre coordinate of second robot under global map.
5. the mutual detection method of robot as described in any one of claims 1 to 3, it is characterised in that described first partly
Figure includes：Static layer, obstacle nitride layer and expanding layer；It is described in first local map, according to second robot
Profile coordinate under the first local map, the second robot described in labelling, including：
In first local map, robot layer is set up, wherein, the chi of the robot layer and first local map
Very little, zero, change in coordinate axis direction and resolution are consistent；
Based on profile coordinate of second robot under the first local map, according to PNPoly algorithms in the robot layer
In filter out the grid captured by second robot, and be labeled as barrier；
In expanding layer, the grid for being marked as barrier in the obstacle nitride layer and the robot layer is made at expansion
Reason；
The robot layer, static layer, obstacle nitride layer and expanding layer are superimposed, are completed under first local map to described
The labelling of two robots.
6. the mutual detection means of a kind of robot, it is characterised in that the mutual detection means of the robot includes：
Centre coordinate acquiring unit, for obtaining centre coordinate of second robot under global map；
Profile information acquiring unit, for obtaining the profile information of second robot；
Profile coordinate calculating unit, the profile information of the second robot for being got according to the profile information acquiring unit
And centre coordinate of the second robot that gets of the centre coordinate acquiring unit under global map, it is calculated described
Profile coordinate of two robots under global map；
Profile coordinate transformation unit, for by calculated second robot of the profile coordinate calculating unit in global map
Under profile Coordinate Conversion be the profile coordinate under the first local map, wherein, first local map be described first
The local map of robot；
Second robot indexing unit, under first local map, being obtained according to the profile coordinate transformation unit
Profile coordinate of second robot under the first local map, the second robot described in labelling.
7. the mutual detection means of robot as claimed in claim 6, it is characterised in that the mutual detection means of the robot,
Also include：
Apart from detector unit, for detecting second robot whether in the preset range of first robot；
The profile information acquisition device, specifically for detecting second robot in institute apart from detector unit when described
When stating in the preset range of the first robot, the profile information of second robot is obtained.
8. the mutual detection means of robot as claimed in claim 6, it is characterised in that the mutual detection means of the robot is also
Including：
ID acquiring units, for obtaining the ID of second robot；
Model determining unit, the ID of the second robot for being got according to the ID acquiring units determines second machine
The model of device people；
The profile information acquisition device, specifically for if the model of second robot and first robot not phase
Together, then the profile information of second robot is searched from default robot profile information table, if second robot
It is identical with the model of first robot, then the profile information of first robot itself is read, as second machine
The profile information of device people.
9. the mutual detection means of robot as described in any one of claims 1 to 3, it is characterised in that the centre coordinate is obtained
Unit is taken, including：
Connection establishment subelement, for setting up bluetooth connection with second robot；
World coordinates obtains subelement, sits for obtaining center of second robot under world coordinate system by bluetooth
Mark；
World coordinates conversion subunit, for according to the relation with the world coordinate system preserved in the global map, inciting somebody to action
The world coordinates obtains the centre coordinate of the second robot that subelement gets under world coordinate system and is converted to described the
Centre coordinate of two robots under global map.
10. the mutual detection means of robot as described in any one of claims 1 to 3, it is characterised in that described first partly
Figure includes：Static layer, obstacle nitride layer and expanding layer；Second robot indexing unit, including：
Robot layer arranges subelement, in first local map, setting up robot layer, wherein, the robot
Layer is consistent with the size of first local map, zero, change in coordinate axis direction and resolution；
Robot barrier substance markers subelement, for being based on profile coordinate of second robot under the first local map,
Filtered out in the robot arranges the robot layer that subelement is set up according to PNPoly algorithms and accounted for by second robot
The grid of neck, and it is labeled as barrier；
Barrier expands subelement, in expanding layer, will be marked as obstacle in the obstacle nitride layer and robot layer
The grid of thing makees expansion process；
Map overlay subelement, for being superimposed the robot layer, static layer, obstacle nitride layer and expanding layer, completes described
To the labelling of second robot under one local map.
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