CN108972552A - A kind of position finding and detection method of robot, equipment and computer-readable medium - Google Patents
A kind of position finding and detection method of robot, equipment and computer-readable medium Download PDFInfo
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- CN108972552A CN108972552A CN201810841454.XA CN201810841454A CN108972552A CN 108972552 A CN108972552 A CN 108972552A CN 201810841454 A CN201810841454 A CN 201810841454A CN 108972552 A CN108972552 A CN 108972552A
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- 238000001514 detection method Methods 0.000 title claims abstract description 113
- 230000004807 localization Effects 0.000 claims abstract description 88
- 238000000034 method Methods 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 13
- 230000007306 turnover Effects 0.000 description 12
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 10
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- XNKARWLGLZGMGX-UHFFFAOYSA-N ethyl 4-(4-chloro-2-methylphenoxy)butanoate Chemical group CCOC(=O)CCCOC1=CC=C(Cl)C=C1C XNKARWLGLZGMGX-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The embodiment of the invention discloses a kind of position finding and detection method of robot, equipment and computer-readable mediums, and wherein method includes: the current location point for obtaining robot；Whether the shape for detecting the corresponding default moving area of the robot is convex-edge shape, wherein the default moving area is the polygonal region determined using multiple ultra wide band positioning devices as each vertex；If detecting that the shape of the default moving area is convex-edge shape, it is determined that each angle that the current location point is connect with each adjacent vertex of the default moving area, and calculate the sum of the angle value of each angle；According to the sum of the angle value of each angle, determine whether the current location point is in outside the default moving area；If it is determined that the current location point is in outside the default moving area, then forbids the robot mobile and alarm.In this way, the accuracy to robot localization detection is improved, it is stolen to effectively prevent robot.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of position finding and detection methods, equipment and computer-readable medium.
Background technique
With the development of artificial intelligence, robot is in all trades and professions using machine that is more and more extensive, launching in the market
People is more and more, since the artificial intelligence technology of robot is relatively advanced, higher cost, therefore how to more efficiently prevent from machine
People is stolen, ensures that the safety of robot is particularly significant.
Summary of the invention
The embodiment of the present invention provides position finding and detection method, equipment and the computer-readable medium of a kind of robot, can be improved
To the accuracy of robot localization detection, it is stolen to effectively prevent robot.
In a first aspect, the embodiment of the invention provides a kind of position finding and detection methods of robot, this method comprises:
Obtain the current location point of robot；
Whether the shape for detecting the corresponding default moving area of the robot is convex-edge shape, wherein the default movement
Region is the polygonal region determined using multiple ultra wide band positioning devices as each vertex；
If detect the default moving area shape be convex-edge shape, it is determined that the current location point with it is described pre-
If each angle that each adjacent vertex of moving area connects, and calculate the sum of the angle value of each angle；
According to the sum of the angle value of each angle, determine whether the current location point is in the default turnover zone
It is overseas；
If it is determined that the current location point is in outside the default moving area, then forbid the robot mobile simultaneously
It alarms.
Further, the method also includes:
If the shape for detecting the default moving area is concave edge shape, according to preset rules to the default movement
Region is divided, and first movement region and the second moving area are obtained, wherein the shape in the first movement region and described
The shape of second moving area is convex-edge shape；
According to the first movement region and/or second moving area, determine whether the current location point is in
Outside the default moving area.
Further, described that the default moving area is divided according to preset rules, obtain first movement region
With the second moving area, comprising:
Using any one location point in the default moving area as origin, the plane for establishing the default moving area is straight
Angular coordinate system；
Determine coordinate information of each vertex in the plane right-angle coordinate in the default moving area；
According to coordinate information of each vertex in the plane right-angle coordinate, the default moving area is determined
The edge-vector on each side of the corresponding concave edge shape；
The default moving area is divided according to the edge-vector on each side, obtains the first movement region
With the second moving area.
Further, described according to the first movement region and/or second moving area, determine the present bit
It sets a little whether outside the default moving area, comprising:
Determine each angle that the current location point is connect with each adjacent vertex in the first movement region；
According to the sum of the angle value of each angle in the first movement region, whether the current location point is judged
Outside the first movement region；
If it is judged that the current location point is in outside the first movement region, it is determined that the current location point with
Each angle that each adjacent vertex of second moving area connects；
According to the sum of the angle value of each angle of second moving area, whether the current location point is detected
Outside second moving area；
If detecting the current location point to be in outside second moving area, it is determined that the current location point is in
Outside the default moving area.
It is further, described to judge whether the current location point is in outside the first movement region, comprising:
Detect the sum of the angle value of each angle in the current location point and the first movement region whether etc.
In the first predetermined angle threshold value；
If detecting that the sum of the angle value of each angle in the first movement region is pre- not equal to described first
If angle threshold, it is determined that the current location point is in outside the first movement region；
Whether the detection current location point is in outside second moving area, comprising:
Detect the sum of angle value of each angle of the current location point and second moving area whether etc.
In the first predetermined angle threshold value；
If detecting that the sum of angle value of each angle of second moving area is pre- not equal to described first
If angle threshold, it is determined that the current location point is in outside second moving area.
Further, described according to the first movement region and/or second moving area, determine the present bit
It sets a little whether outside the default moving area, comprising:
Determine each angle that the current location point is connect with each adjacent vertex in the first movement region with
And each angle that the current location point is connect with each adjacent vertex of second moving area；
Calculate institute of the sum of the angle value of each angle in the first movement region with second moving area
It states the sum of angle value of each angle and is added obtained angle value summation；
Judge whether the angle value summation is equal to the second predetermined angle threshold value；
If it is judged that the angle value summation is not equal to second predetermined angle threshold value, it is determined that the current location
Point is outside the default moving area.
Further, if it is determined that go out the current location and be in outside the default moving area, then forbid the machine
People stops mobile and alarms, comprising:
If it is determined that the current location is in outside the default moving area, then the robot is forbidden to stop moving
It is dynamic；
Control instruction is sent to the terminal device for establishing communication connection with the robot, the control instruction is used to indicate
Warning device on the terminal device is alarmed.
Second aspect, the embodiment of the invention provides a kind of detection and localization equipment, which includes for holding
The unit of the method for the above-mentioned first aspect of row.
The third aspect, the embodiment of the invention provides another detection and localization equipment, including it is processor, input equipment, defeated
Equipment and memory out, the processor, input equipment, output equipment and memory are connected with each other, wherein the memory is used
Detection and localization equipment is supported to execute the computer program of the above method in storage, the computer program includes program instruction, institute
Processor is stated to be configured for calling described program instruction, the method for executing above-mentioned first aspect.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer storage medium
It is stored with computer program, the computer program includes program instruction, and described program instruction makes institute when being executed by a processor
State the method that processor executes above-mentioned first aspect.
The embodiment of the present invention, by obtaining the current location point of robot, if detecting the shape of default moving area
For convex-edge shape, then it is each can to determine that the current location point is connect with each adjacent vertex of the default moving area
Angle, and according to the sum of the angle value of each angle, determine whether the current location point is in the default turnover zone
It is overseas, if it is determined that go out the current location point and be in outside the default moving area, then the robot can be forbidden mobile
And alarm, the location control to robot is realized, robot is effectively prevented and is stolen, improve the safety of robot.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of schematic flow diagram of the position finding and detection method of robot provided in an embodiment of the present invention；
Fig. 2 is the interface schematic diagram of a kind of robot and default moving area provided in an embodiment of the present invention；
Fig. 3 is the interface schematic diagram of another robot and default moving area provided in an embodiment of the present invention；
Fig. 4 is the schematic flow diagram of the position finding and detection method of another robot provided in an embodiment of the present invention；
Fig. 5 is the interface schematic diagram of another robot and default moving area provided in an embodiment of the present invention；
Fig. 6 is a kind of schematic block diagram of detection and localization equipment provided in an embodiment of the present invention；
Fig. 7 is another detection and localization equipment schematic block diagram provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be appreciated that the term used in this description of the invention is merely for the sake of for the purpose of describing particular embodiments
And it is not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless up and down
Text clearly indicates other situations, and otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
The position finding and detection method of robot provided in an embodiment of the present invention can be executed by a kind of position detecting system, described
Position detecting system includes detection and localization equipment and robot, wherein in certain embodiments, the detection and localization equipment can be with
It is arranged on the intelligent terminals such as mobile phone, computer, plate, smartwatch.In certain embodiments, the detection and localization equipment and institute
It states and can establish communication connection between robot, to carry out two-way communication.In certain embodiments, the detection and localization equipment can
To be mounted in the robot, in certain embodiments, the detection and localization equipment can be spatially independently of the machine
Device people, in certain embodiments, the detection and localization equipment can be the component of the robot, i.e., the described robot includes fixed
Level detection apparatus.In certain embodiments, the robot may include: that unmanned automobile, unmanned plane, unmanned boat etc. are moveable
Robot.The current location point that robot described in the position detecting system can will acquire is sent to the detection and localization and sets
It is standby, so that the current location point of the available robot of detection and localization equipment, and it is corresponding default to detect the robot
Whether the shape of moving area is convex-edge shape.If the detection and localization equipment detects the shape of the default moving area and is
Convex-edge shape can then determine each folder that the current location point is connect with each adjacent vertex of the default moving area
Angle, and the sum of the angle value of each angle is calculated, according to the sum of the angle value of each angle, determine the present bit
It sets a little whether outside the default moving area, if it is determined that go out the current location point and be in the default moving area
Outside, then control instruction is sent to the robot, the robot is received forbidden moves after the control instruction and carried out
Alarm.The position finding and detection method of the embodiment of the present invention is schematically illustrated below.
In the embodiment of the present invention, then the current location point of the available robot of detection and localization equipment is detected as described
Whether the default moving area of robot setting is concave edge shape, wherein the default moving area is with the positioning of multiple ultra wide bands
The polygonal region that equipment is determined as each vertex.In certain embodiments, the shape of the polygonal region can be recessed
Side shape, is also possible to convex-edge shape.If detecting that the default moving area is convex-edge shape, detection and localization equipment can basis
The position on each vertex in the default moving area of the current location point and the concave edge shape, determine the current location point with
Each angle that each adjacent vertex connects in the default moving area of the concave edge shape, and calculate the angle of each angle
The sum of angle value.The detection and localization equipment can determine the current location point according to the sum of the angle value of each angle
Whether outside the default moving area, if it is determined that go out the current location point and be in outside the default moving area, then
The robot is controlled to stop mobile and alarm, with realize prevent robot stolen in the case where unattended or by
Malice is guided, and can remind user in time using alarm technique, to reduce the stolen risk of robot.
It is a kind of schematic flow diagram of the position finding and detection method of robot provided in an embodiment of the present invention referring to Fig. 1, Fig. 1,
As shown in Figure 1, this method can be executed by detection and localization equipment, the specific explanations of the detection and localization equipment as previously mentioned, this
Place repeats no more.Specifically, described method includes following steps for the embodiment of the present invention.
S101: the current location point of robot is obtained.
In the embodiment of the present invention, detection and localization equipment can use the ultra wide band positioning device being arranged in robot, in real time
The current location point of ground acquisition robot.
S102: whether the shape for detecting the corresponding default moving area of the robot is convex-edge shape.
In the embodiment of the present invention, detection and localization equipment can detecte the shape of the corresponding default moving area of the robot
It whether is convex-edge shape.In one embodiment, default moving area can be using multiple ultra wide band positioning devices as each top
The determining polygonal region of point, the polygonal region can be concave edge shape, be also possible to convex-edge shape.
In one embodiment, user can be by being that each vertex determines described pre- with multiple ultra wide band positioning devices
If moving area, wherein the detection and localization equipment can control the robot and move in the default moving area.Tool
In body implementation process, multiple ultra wide band positioning devices can be arranged on ground in user, with the position where each ultra wide band positioning device
The each vertex of conduct is set, the default turnover zone is in the polygon closed loop region determined with the line between each adjacent vertex
Domain.
It in one embodiment, can be according to preset rules if the shape of the default moving area is concave edge shape
The default moving area is divided into multiple convex-edge shapes.In certain embodiments, it is drawn to the default moving area
The default moving area of the concave edge shape can be divided into multiple chimbs by user by timesharing.In certain embodiments, right
When the default moving area is divided, detection and localization equipment can according to the default moving area got, according to
Preset rules divide the default moving area, obtain first movement region and the second moving area.
In one embodiment, using in the ultra wide band location algorithm and robot configured in each ultra wide band positioning device
The ultra wide band location algorithm (such as AOA algorithm) of the ultra wide band positioning device of setting, with any one in the default moving area
Location point is origin, the plane right-angle coordinate of default moving area is established, to obtain each in the default moving area
Coordinate information of the vertex in the plane right-angle coordinate.Detection and localization equipment can be according to each vertex described flat
Coordinate information in the rectangular coordinate system of face, determine each of the corresponding concave edge shape of the default moving area while while to
Amount, and the default moving area is divided according to the edge-vector on each side, obtain the first movement region
With the second moving area.
S103: if detect the default moving area shape be convex-edge shape, it is determined that the current location point with
Each angle that each adjacent vertex of the default moving area connects, and calculate each angle angle value it
With.
In the embodiment of the present invention, if detection and localization equipment detects that the shape of the default moving area is convex-edge shape,
Then the current location point can be determined according to the position on each vertex in the current location point and the default moving area
With each angle that each adjacent vertex is connect in the default moving area, and calculate each angle angle value it
With.In specific implementation process, if the shape of default moving area is convex-edge shape, detection and localization equipment can be according to obtaining in real time
The coordinate information on each vertex in the coordinate information and default moving area of the current location point of the robot got, using super
Broadband location algorithm determines that the current location point of the robot connect composed each angle with each adjacent vertex
The sum of angle value.
It can be specifically illustrated by taking Fig. 2 as an example, Fig. 2 is a kind of robot provided in an embodiment of the present invention and default turnover zone
The interface schematic diagram in domain, as shown in Figure 2, comprising: robot 21 presets moving area 22, the top of the default moving area 22
Point A, vertex B, vertex C, vertex D, vertex E, vertex F.The detection and localization equipment can obtain the current of robot 21 in real time
The coordinate information of the position each vertex A, B, C, D, E, F in the coordinate information of location point R and default moving area 22, and root
According to each vertex A, B, C, D, E, F institute in the coordinate information and default moving area 22 of the current location point R of the robot 21
Coordinate information in position, using ultra wide band location algorithm determine the robot 21 current location point R and each adjacent top
Point connects composed each angle are as follows: ∠ ARF, ∠ ARB, ∠ BRC, ∠ CRD, ∠ DRE, ∠ ERF, the detection and localization equipment
The sum of the angle value of each angle can be calculated are as follows: T=∠ ARF+ ∠ ARB+ ∠ BRC+ ∠ CRD+ ∠ DRE+ ∠ ERF.
S104: according to the sum of the angle value of each angle, determine whether the current location point is in described default
Outside moving area.
In the embodiment of the present invention, the detection and localization equipment can be according to each angle in the default moving area
The sum of angle value, determines whether the current location point is in outside the default moving area.
In one embodiment, if the shape of the default moving area is convex-edge shape, the detection and localization equipment
It can detecte whether the sum of angle value of each angle in the default moving area is equal to the first predetermined angle threshold value, if
Detect that the sum of angle value of each angle in the default moving area, then can be true not equal to the first predetermined angle threshold value
The fixed current location point is in outside the default moving area.In certain embodiments, first predetermined angle threshold value is
360 degree.
It can specifically illustrate by taking Fig. 2 as an example, it is assumed that first predetermined angle threshold value is 360 degree, if the default movement
The shape in region 22 is convex-edge shape, then the detection and localization equipment can be according in the default moving area 22 being calculated
The sum of the angle value of each angle T=∠ ARF+ ∠ ARB+ ∠ BRC+ ∠ CRD+ ∠ DRE+ ∠ ERF, detecting the T is
It is no to be equal to 360 degree, if detecting that the T is equal to 360 degree, it can determine that the current location point R is in the default shifting
In dynamic region 22.
In another example as shown in figure 3, Fig. 3 is another robot provided in an embodiment of the present invention and default moving area
Interface schematic diagram, comprising: robot 31 presets moving area 32, vertex A, the vertex B, vertex of the default moving area 32
C, vertex D, vertex E, vertex F.The detection and localization equipment can obtain the coordinate letter of the current location point R of robot 31 in real time
The coordinate information of the position each vertex A, B, C, D, E, F in breath and default moving area 32, and according to the robot 31
Current location point R coordinate information and default moving area 32 in the position each vertex A, B, C, D, E, F coordinate letter
Breath, determine that the current location point R of the robot 31 connect with each adjacent vertex using ultra wide band location algorithm composed by
Each angle are as follows: ∠ ARF, ∠ ARB, ∠ BRC, ∠ CRD, ∠ DRE, ∠ ERF, the detection and localization equipment can calculate described each
The sum of the angle value of a angle are as follows: T=∠ ARF+ ∠ ARB+ ∠ BRC+ ∠ CRD+ ∠ DRE+ ∠ ERF, if detecting the T not
Equal to 360 degree, then it can determine that the current location point R is in outside the default moving area 32.
S105: if it is determined that current location point is in outside the default moving area, then forbid the robot
It moves and alarms.
In the embodiment of the present invention, detection and localization equipment is if it is determined that current location point is in the default turnover zone
It is overseas, then the robot can be forbidden mobile and alarmed.
In one embodiment, the detection and localization equipment can be set in the robot, and the detection and localization is set
It is mobile for the robot when determining that the current location point is in outside the default moving area, can be forbidden, and touch
The warning device for sending out robot described is alarmed.
In one embodiment, the detection and localization equipment can be set at the end for establishing communication connection with the robot
In end equipment, the detection and localization equipment, can be with when determining that the current location point is in outside the default moving area
Control instruction is sent to the robot, to control the robot forbidden moves, and triggers the warning device of the robot
It alarms.
In one embodiment, the warning device can be set sets in the terminal for establishing communication connection with the robot
It is standby upper, the detection and localization equipment when determining that the current location point is in outside the default moving area, can to
The terminal device that the robot establishes communication connection sends control instruction, with trigger the warning device on the terminal device into
Row alarm.
In one embodiment, the detection and localization equipment is determining that the current location point is in the default movement
When outside region, the warning device being arranged in robot can be triggered simultaneously and one or more establish with the robot communicates
Warning device on the terminal device of connection is alarmed.
In certain embodiments, the warning device may include phonetic alarm device, vibration warning device, jingle bell alarm
Any one device in device etc..In certain embodiments, the type of alarm of the warning device can be voice prompting, connect
Continuous vibration issues any one or more type of alarm such as alarm bell.
In the embodiment of the present invention, the current location point of the available robot of detection and localization equipment, if detected default
The shape of moving area is convex-edge shape, then can determine each adjacent vertex of the current location point and the default moving area
Obtained each angle is connected, and according to the sum of the angle value of each angle, determines whether the current location point is in
Outside the default moving area, if it is determined that go out the current location point and be in outside the default moving area, then can forbid
The robot is mobile and alarms.In this way, the location control to robot is realized, machine is effectively prevented
People is stolen, improves the safety of robot.
Referring to fig. 4, Fig. 4 is the exemplary flow of the position finding and detection method of another robot provided in an embodiment of the present invention
Figure, as shown in figure 4, this method can be executed by detection and localization equipment, the specific explanations of the detection and localization equipment as previously mentioned, this
Place repeats no more.The difference of the embodiment of the present invention and embodiment described in above-mentioned Fig. 1 is, the embodiment of the present invention is to when detecting
When the shape of the corresponding default moving area of the robot is concave edge shape, the implementation to the position finding and detection method of the robot
Process is illustrated.Specifically, described method includes following steps for the embodiment of the present invention.
S401: the current location point of robot is obtained.
In the embodiment of the present invention, the current location point of the available robot of detection and localization equipment.
S402: if detecting that the shape of the corresponding default moving area of the robot is concave edge shape, according to default
Rule divides the default moving area, obtains first movement region and the second moving area.
In the embodiment of the present invention, detection and localization equipment can detecte the shape of the corresponding default moving area of the robot
Shape can be according to preset rules to the default movement if detecting that the shape of the default moving area is concave edge shape
Region is divided, and first movement region and the second moving area are obtained, wherein the shape in the first movement region and described
The shape of second moving area is convex-edge shape.In one embodiment, the preset rules may include vector split plot design, rotation
Turn any one or more rule such as split plot design, traversal, the embodiment of the present invention is not specifically limited the preset rules.
In one embodiment, the detection and localization equipment is drawing the default moving area according to preset rules
Timesharing can be origin by any one location point in the default moving area, establish the flat of the default moving area
Face rectangular coordinate system, and determine coordinate letter of each vertex in the plane right-angle coordinate in the default moving area
Breath, and the coordinate information according to each vertex in the plane right-angle coordinate, determine the default moving area
The edge-vector on each side of the corresponding concave edge shape carries out the default moving area according to the edge-vector on each side
It divides, obtains the first movement region and the second moving area.
It specifically can be for example, the available any one position in the default moving area of the detection and localization equipment
The plane right-angle coordinate for the default moving area a little established for origin is set, and is determined each in the default moving area
Coordinate information of the vertex in the plane right-angle coordinate, and according to each vertex in the plane right-angle coordinate
In coordinate information, the edge-vector on each side of the corresponding concave edge shape of the default moving area is determined, according to counterclockwise
Direction calculating described in edge-vector cross product result Z, and record the symbol of the cross product result Z component.If Z component becomes
Negative value, it is determined that the shape of the default moving area is concave edge shape, therefore can be along the cross product vector centering a line
Extended line the polygon is disassembled.By repeating preceding step according to each side to two polygons newly obtained
Edge-vector the default moving area is divided, obtain the first movement region and the second moving area.
In one embodiment, the detection and localization equipment is drawing the default moving area according to preset rules
Timesharing, the default turnover zone that can be established according to any one location point using in the default moving area as origin
The plane right-angle coordinate in domain rotates counterclockwise around the default moving area, by each vertex V of the default moving areak
The plane right-angle coordinate coordinate origin is moved to, is then rotated clockwise, next vertex V is madek+1In x-axis.If with
The Vk+1Adjacent next vertex Vk+2Below x-axis, then it can determine that the default moving area is concave edge shape, and along x
The default moving area is split by axis, obtains the first movement region and the second moving area.
S403: according to the first movement region and/or second moving area, whether the current location point is determined
Outside the default moving area.
In the embodiment of the present invention, detection and localization equipment can be according to the first movement region and/or second movement
Region, determines whether the current location point is in outside the default moving area.
In one embodiment, the detection and localization equipment can determine the current location point and the first movement area
Each angle that each adjacent vertex in domain connects, and the angle value of each angle according to the first movement region
The sum of, judge whether the current location point is in outside the first movement region.If the detection and localization equipment is judged
The current location point is in outside the first movement region, then may further determine that the current location point and described second
Each angle that each adjacent vertex of moving area connects, and according to each angle of second moving area
The sum of angle value, detects whether the current location point is in outside second moving area, if detecting the current location
Point is outside second moving area, it is determined that the current location point is in outside the default moving area.
It can be specifically illustrated by taking Fig. 5 as an example, Fig. 5 is another robot provided in an embodiment of the present invention and default movement
The interface schematic diagram in region, as shown in Figure 5, comprising: robot 51, default moving area 52, first movement region 521, second
Moving area 522.Assuming that first predetermined angle threshold value is 360 degree, the available machine of detection and localization equipment
The coordinate information of each vertex A, B, E, F of the coordinate information and first movement region 521 of the current location point R of people 51,
And each adjacent vertex in the current location R and first movement region 521 of the robot 51 is determined using ultra wide band location algorithm
Angle value ∠ ARF, ∠ ARB, ∠ BRE, the ∠ ERF of each angle composed by connecting, and calculate the angle value of each angle
It can be true if detecting that the sum of angle value T1 is not equal to 360 degree with T1=∠ ARF+ ∠ ARB+ ∠ BRE+ ∠ ERF
The fixed current location point is in outside the first movement region 521.The detection and localization equipment may further determine that described
The angle for each angle that the current location point R of robot 51 is connect with each adjacent vertex of second moving area 522
Angle value, respectively ∠ BRE, ∠ BRC, ∠ CRD, ∠ DRE, the detection and localization equipment can calculate second moving area
The angle value of 522 each angle and T2=∠ BRE+ ∠ BRC+ ∠ CRD+ ∠ DRE, if detecting the sum of described angle value
T2 is not equal to 360 degree, then can determine that the current location point R is in outside second moving area 522.Therefore, described fixed
Level detection apparatus can determine that the current location point R is in outside the default moving area 52.
In one embodiment, the detection and localization equipment can detecte the current location point and the first movement area
Whether the sum of the angle value of each angle in domain is equal to the first predetermined angle threshold value, if detecting the first movement area
The sum of the angle value of each angle in domain is not equal to first predetermined angle threshold value, it is determined that the current location Dian Chu
In outside the first movement region, it is in outside the first movement region if detecting the current location point, it is determined that described
It is preset outside moving area described in the point of current location.
In one embodiment, the detection and localization equipment is determining that the current location point is in the first movement
When outside region, the sum of the angle value that can detecte the current location point and each angle of second moving area is
It is no to be equal to the first predetermined angle threshold value, if detecting the sum of angle value of each angle of second moving area no
Equal to first predetermined angle threshold value, it is determined that the current location point is in outside second moving area.
In one embodiment, the detection and localization equipment can first detect whether the current location point is in described
Outside two moving areas, if detecting that the current location point is in outside second moving area, further described in detection
Whether current location point is in outside the first movement region.Whether the embodiment of the present invention is in the detection current location point
Outside the first movement region, and whether the detection ordering outside second moving area is not specifically limited.
In one embodiment, the detection and localization equipment can determine the current location point and the first movement area
The each angle and current location point that each adjacent vertex in domain connects are each adjacent with second moving area
Each angle that vertex connects, and the sum of angle value of each angle for calculating the first movement region with it is described
The sum of angle value of each angle of second moving area is added obtained angle value summation, and judges the angle value
Whether summation is equal to the second predetermined angle threshold value.If it is judged that the angle value summation is not equal to the second predetermined angle threshold
Value, then the detection and localization equipment can determine that the current location point is in outside the default moving area.
It can be specifically illustrated by taking Fig. 5 as an example, it is assumed that second predetermined angle threshold value is 720 degree, the detection and localization
Equipment can determine that the current location point R of the robot 51 is connect with each adjacent vertex in the first movement region 521
To each folder for being connect with each adjacent vertex of second moving area of each angle and current location point
Angle ∠ ARF, ∠ ARB, ∠ BRE, ∠ ERF, and calculate each angle ∠ ARF in the first movement region 521, ∠ ARB,
The sum of angle value of ∠ BRE, ∠ ERF T1=∠ ARF+ ∠ ARB+ ∠ BRE+ ∠ ERF is each with second moving area 522
The sum of the angle value ∠ BRE of angle, ∠ BRC, ∠ CRD, ∠ DRE T2=∠ BRE+ ∠ BRC+ ∠ CRD+ ∠ DRE is added
Angle value summation T=T1+T2, and judge whether the angle value summation T is equal to 720 degree, if it is judged that the angle value
Summation T is not equal to 720 degree, then the detection and localization equipment can determine that the current location point R is in the default turnover zone
Outside domain 52.
S404: if it is determined that current location point is in outside the default moving area, then forbid the robot
It moves and alarms.
In the embodiment of the present invention, detection and localization equipment is if it is determined that current location point is in the default turnover zone
It is overseas, then forbid the robot mobile and alarms.
In one embodiment, the detection and localization equipment can be set in the robot, and the detection and localization is set
It is mobile for the robot when determining that the current location point is in outside the default moving area, can be forbidden, and touch
The warning device for sending out robot described is alarmed.
In one embodiment, the detection and localization equipment can be set at the end for establishing communication connection with the robot
In end equipment, the detection and localization equipment, can be with when determining that the current location point is in outside the default moving area
Control instruction is sent to the robot, to control the robot forbidden moves, and triggers the warning device of the robot
It alarms.
In one embodiment, the warning device can be set sets in the terminal for establishing communication connection with the robot
It is standby upper, the detection and localization equipment when determining that the current location point is in outside the default moving area, can to
The terminal device that the robot establishes communication connection sends control instruction, with trigger the warning device on the terminal device into
Row alarm.
In one embodiment, the detection and localization equipment is determining that the current location point is in the default movement
When outside region, the warning device being arranged in robot can be triggered simultaneously and one or more establish with the robot communicates
Warning device on the terminal device of connection is alarmed.In certain embodiments, the warning device explanation as previously mentioned,
Details are not described herein again.In certain embodiments, the type of alarm of the warning device is as previously mentioned, details are not described herein again.
In the embodiment of the present invention, the current location point of the available robot of detection and localization equipment, if detected described
The shape of the corresponding default moving area of robot is concave edge shape, then draws according to preset rules to the default moving area
Point, first movement region and the second moving area are obtained, and according to the first movement region and/or second turnover zone
Domain, determines whether the current location point is in outside the default moving area, if it is determined that goes out the current location point and is in
Outside the default moving area, then forbids the robot mobile and alarm.It in this way, can be to avoid when described
When the default moving area of machine is concave edge shape, the current location point of aircraft described in false judgment is in the predeterminable area
Outside, multiple convex-edge shape regions are divided by the default moving area to the concave edge shape, improve and robot is positioned
The accuracy and validity of detection, further ensure the safety of robot.
The embodiment of the invention also provides a kind of detection and localization equipment, the detection and localization equipment is any one of aforementioned for executing
The unit of the method.It specifically, is a kind of signal of detection and localization equipment provided in an embodiment of the present invention referring to Fig. 6, Fig. 6
Block diagram.The detection and localization equipment of the present embodiment includes: acquiring unit 601, detection unit 602, the first determination unit 603, second
Determination unit 604 and alarm unit 605.
Acquiring unit 601, for obtaining the current location point of robot；
Detection unit 602, whether the shape for detecting the corresponding default moving area of the robot is convex-edge shape,
In, the default moving area is the polygonal region determined using multiple ultra wide band positioning devices as each vertex；
First determination unit 603, if the shape for detecting the default moving area is convex-edge shape, it is determined that institute
Each angle that current location point is connect with each adjacent vertex of the default moving area is stated, and calculates each folder
The sum of the angle value at angle；
Second determination unit 604 determines that the current location point is for the sum of the angle value according to each angle
It is no to be in outside the default moving area；
Alarm unit 605 is used to then forbid if it is determined that current location point is in outside the default moving area
The robot is mobile and alarms.
Further, first determination unit 603, is also used to:
If the shape for detecting the default moving area is concave edge shape, according to preset rules to the default movement
Region is divided, and first movement region and the second moving area are obtained, wherein the shape in the first movement region and described
The shape of second moving area is convex-edge shape；
According to the first movement region and/or second moving area, determine whether the current location point is in
Outside the default moving area.
Further, first determination unit 603 divides the default moving area according to preset rules, obtains
When to first movement region and the second moving area, it is specifically used for:
Using any one location point in the default moving area as origin, the plane for establishing the default moving area is straight
Angular coordinate system；
Determine coordinate information of each vertex in the plane right-angle coordinate in the default moving area；
According to coordinate information of each vertex in the plane right-angle coordinate, the default moving area is determined
The edge-vector on each side of the corresponding concave edge shape；
The default moving area is divided according to the edge-vector on each side, obtains the first movement region
With the second moving area.
Further, first determination unit 603 is according to the first movement region and/or second turnover zone
Domain is specifically used for when determining that whether the current location point is in outside the default moving area:
Determine each angle that the current location point is connect with each adjacent vertex in the first movement region；
According to the sum of the angle value of each angle in the first movement region, whether the current location point is judged
Outside the first movement region；
If it is judged that the current location point is in outside the first movement region, it is determined that the current location point with
Each angle that each adjacent vertex of second moving area connects；
According to the sum of the angle value of each angle of second moving area, whether the current location point is detected
Outside second moving area；
If detecting the current location point to be in outside second moving area, it is determined that the current location point is in
Outside the default moving area.
Further, first determination unit 603 judges whether the current location point is in the first movement area
When overseas, it is specifically used for:
Detect the sum of the angle value of each angle in the current location point and the first movement region whether etc.
In the first predetermined angle threshold value；
If detecting that the sum of the angle value of each angle in the first movement region is pre- not equal to described first
If angle threshold, it is determined that the current location point is in outside the first movement region；
When first determination unit 603 judges that whether the current location point is in outside second moving area, tool
Body is used for:
Detect the sum of angle value of each angle of the current location point and second moving area whether etc.
In the first predetermined angle threshold value；
If detecting that the sum of angle value of each angle of second moving area is pre- not equal to described first
If angle threshold, it is determined that the current location point is in outside second moving area.
Further, first determination unit 603 is according to the first movement region and/or second turnover zone
Domain is specifically used for when determining that whether the current location point is in outside the default moving area:
Determine each angle that the current location point is connect with each adjacent vertex in the first movement region with
And each angle that the current location point is connect with each adjacent vertex of second moving area；
Calculate institute of the sum of the angle value of each angle in the first movement region with second moving area
It states the sum of angle value of each angle and is added obtained angle value summation；
Judge whether the angle value summation is equal to the second predetermined angle threshold value；
If it is judged that the angle value summation is not equal to second predetermined angle threshold value, it is determined that the current location
Point is outside the default moving area.
Further, the alarm unit 605, is specifically used for:
If it is determined that the current location is in outside the default moving area, then the robot is forbidden to stop moving
It is dynamic；
Control instruction is sent to the terminal device for establishing communication connection with the robot, the control instruction is used to indicate
Warning device on the terminal device is alarmed.
In the embodiment of the present invention, the current location point of the available robot of detection and localization equipment, if detected default
The shape of moving area is convex-edge shape, then can determine each adjacent vertex of the current location point and the default moving area
Obtained each angle is connected, and according to the sum of the angle value of each angle, determines whether the current location point is in
Outside the default moving area, if it is determined that go out the current location point and be in outside the default moving area, then can forbid
The robot is mobile and alarms.In this way, the location control to robot is realized, machine is effectively prevented
People is stolen, improves the safety of robot.
It is another detection and localization equipment schematic block diagram provided in an embodiment of the present invention referring to Fig. 7, Fig. 7.As shown in the figure
Detection and localization equipment in the present embodiment may include: one or more processors 701；One or more input equipments 702, one
A or multiple output equipments 703 and memory 704.Above-mentioned processor 701, input equipment 702, output equipment 703 and memory
704 are connected by bus 705.For memory 704 for storing computer program, the computer program includes program instruction, place
Reason device 701 is used to execute the program instruction of the storage of memory 704.Wherein, processor 701 is configured for that described program is called to refer to
It enables and executing:
Obtain the current location point of robot；
Whether the shape for detecting the corresponding default moving area of the robot is convex-edge shape, wherein the default movement
Region is the polygonal region determined using multiple ultra wide band positioning devices as each vertex；
If detect the default moving area shape be convex-edge shape, it is determined that the current location point with it is described pre-
If each angle that each adjacent vertex of moving area connects, and calculate the sum of the angle value of each angle；
According to the sum of the angle value of each angle, determine whether the current location point is in the default turnover zone
It is overseas；
If it is determined that the current location point is in outside the default moving area, then forbid the robot mobile simultaneously
It alarms.
Further, the processor 701 is also used to execute following steps:
If the shape for detecting the default moving area is concave edge shape, according to preset rules to the default movement
Region is divided, and first movement region and the second moving area are obtained, wherein the shape in the first movement region and described
The shape of second moving area is convex-edge shape；
According to the first movement region and/or second moving area, determine whether the current location point is in
Outside the default moving area.
Further, the processor 701 is for executing following steps:
Using any one location point in the default moving area as origin, the plane for establishing the default moving area is straight
Angular coordinate system；
Determine coordinate information of each vertex in the plane right-angle coordinate in the default moving area；
According to coordinate information of each vertex in the plane right-angle coordinate, the default moving area is determined
The edge-vector on each side of the corresponding concave edge shape；
The default moving area is divided according to the edge-vector on each side, obtains the first movement region
With the second moving area.
Further, the processor 701 is for executing following steps:
Determine each angle that the current location point is connect with each adjacent vertex in the first movement region；
According to the sum of the angle value of each angle in the first movement region, whether the current location point is judged
Outside the first movement region；
If it is judged that the current location point is in outside the first movement region, it is determined that the current location point with
Each angle that each adjacent vertex of second moving area connects；
According to the sum of the angle value of each angle of second moving area, whether the current location point is detected
Outside second moving area；
If detecting the current location point to be in outside second moving area, it is determined that the current location point is in
Outside the default moving area.
Further, when the processor 701 judges that whether the current location point is in outside the first movement region,
Specifically for executing following steps:
Detect the sum of the angle value of each angle in the current location point and the first movement region whether etc.
In the first predetermined angle threshold value；
If detecting that the sum of the angle value of each angle in the first movement region is pre- not equal to described first
If angle threshold, it is determined that the current location point is in outside the first movement region；
Whether the processor 701 detects the current location point when being in outside second moving area, is specifically used for
Execute following steps:
Detect the sum of angle value of each angle of the current location point and second moving area whether etc.
In the first predetermined angle threshold value；
If detecting that the sum of angle value of each angle of second moving area is pre- not equal to described first
If angle threshold, it is determined that the current location point is in outside second moving area.
Further, the processor 701 is for executing following steps:
Determine each angle that the current location point is connect with each adjacent vertex in the first movement region with
And each angle that the current location point is connect with each adjacent vertex of second moving area；
Calculate institute of the sum of the angle value of each angle in the first movement region with second moving area
It states the sum of angle value of each angle and is added obtained angle value summation；
Judge whether the angle value summation is equal to the second predetermined angle threshold value；
If it is judged that the angle value summation is not equal to second predetermined angle threshold value, it is determined that the current location
Point is outside the default moving area.
Further, the processor 701 is for executing following steps:
If it is determined that the current location is in outside the default moving area, then the robot is forbidden to stop moving
It is dynamic；
Control instruction is sent to the terminal device for establishing communication connection with the robot, the control instruction is used to indicate
Warning device on the terminal device is alarmed.
In the embodiment of the present invention, the current location point of the available robot of detection and localization equipment, if detected default
The shape of moving area is convex-edge shape, then can determine each adjacent vertex of the current location point and the default moving area
Obtained each angle is connected, and according to the sum of the angle value of each angle, determines whether the current location point is in
Outside the default moving area, if it is determined that go out the current location point and be in outside the default moving area, then can forbid
The robot is mobile and alarms.In this way, the location control to robot is realized, machine is effectively prevented
People is stolen, improves the safety of robot.
It should be appreciated that in embodiments of the present invention, alleged processor 701 can be central processing unit (Central
Processing Unit, CPU), which can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
Reason device is also possible to any conventional processor etc..
Input equipment 702 may include Trackpad, microphone etc., output equipment 703 may include display (LCD etc.),
Loudspeaker etc..
The memory 704 may include read-only memory and random access memory, and to processor 701 provide instruction and
Data.The a part of of memory 704 can also include nonvolatile RAM.For example, memory 704 can also be deposited
Store up the information of device type.
In the specific implementation, processor 701 described in the embodiment of the present invention, input equipment 702, output equipment 703 can
Execute realization side described in embodiment of the method described in Fig. 1 or Fig. 4 of position finding and detection method provided in an embodiment of the present invention
The implementation of detection and localization equipment described in Fig. 6 or Fig. 7 of the embodiment of the present invention also can be performed in formula, and details are not described herein.
A kind of computer readable storage medium is additionally provided in the embodiment of the present invention, the computer readable storage medium is deposited
Computer program is contained, the computer program is realized fixed described in embodiment corresponding to Fig. 1 or Fig. 4 when being executed by processor
Position detecting method can also realize the detection and localization equipment of embodiment corresponding to Fig. 6 or Fig. 7 of the present invention, and details are not described herein.
It deposits the inside that the computer readable storage medium can be detection and localization equipment described in aforementioned any embodiment
Storage unit, such as the hard disk or memory of detection and localization equipment.The computer readable storage medium is also possible to the positioning inspection
The plug-in type hard disk being equipped on the External memory equipment of measurement equipment, such as the detection and localization equipment, intelligent memory card (Smart
Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Further,
The computer readable storage medium can also both include the internal storage unit of the detection and localization equipment or deposit including outside
Store up equipment.The computer readable storage medium is for storing needed for the computer program and the detection and localization equipment
Other programs and data.The computer readable storage medium, which can be also used for temporarily storing, have been exported or will export
Data.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, some embodiments only of the invention, but scope of protection of the present invention is not limited thereto, and it is any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of position finding and detection method of robot characterized by comprising
Obtain the current location point of robot；
Whether the shape for detecting the corresponding default moving area of the robot is convex-edge shape, wherein the default moving area
It is the polygonal region determined using multiple ultra wide band positioning devices as each vertex；
If detecting that the shape of the default moving area is convex-edge shape, it is determined that the current location point and the default shifting
Each angle that each adjacent vertex in dynamic region connects, and calculate the sum of the angle value of each angle；
According to the sum of the angle value of each angle, determine whether the current location point is in the default moving area
Outside；
If it is determined that the current location point is in outside the default moving area, then forbids the robot mobile and carry out
Alarm.
2. the method according to claim 1, wherein the method also includes:
If the shape for detecting the default moving area is concave edge shape, according to preset rules to the default moving area
It is divided, obtains first movement region and the second moving area, wherein the shape in the first movement region and described second
The shape of moving area is convex-edge shape；
According to the first movement region and/or second moving area, determine whether the current location point is in described
Outside default moving area.
3. according to the method described in claim 2, it is characterized in that, it is described according to preset rules to the default moving area into
Row divides, and obtains first movement region and the second moving area, comprising:
Using any one location point in the default moving area as origin, the flat square for establishing the default moving area is sat
Mark system；
Determine coordinate information of each vertex in the plane right-angle coordinate in the default moving area；
According to coordinate information of each vertex in the plane right-angle coordinate, determine that the default moving area is corresponding
The concave edge shape each side edge-vector；
The default moving area is divided according to the edge-vector on each side, obtains the first movement region and
Two moving areas.
4. according to the method in claim 2 or 3, which is characterized in that described according to the first movement region and/or described
Second moving area, determines whether the current location point is in outside the default moving area, comprising:
Determine each angle that the current location point is connect with each adjacent vertex in the first movement region；
According to the sum of the angle value of each angle in the first movement region, judge whether the current location point is in
Outside the first movement region；
If it is judged that the current location point is in outside the first movement region, it is determined that the current location point with it is described
Each angle that each adjacent vertex of second moving area connects；
According to the sum of the angle value of each angle of second moving area, detect whether the current location point is in
Outside second moving area；
If detecting the current location point to be in outside second moving area, it is determined that the current location point is in described
Outside default moving area.
5. according to the method described in claim 4, it is characterized in that, described judge whether the current location point is in described
Outside one moving area, comprising:
Detect whether the sum of the angle value of each angle in the current location point and the first movement region is equal to the
One predetermined angle threshold value；
If detecting the sum of the angle value of each angle in the first movement region not equal to first preset angle
Spend threshold value, it is determined that the current location point is in outside the first movement region；
Whether the detection current location point is in outside second moving area, comprising:
Detect whether the sum of angle value of each angle of the current location point and second moving area is equal to the
One predetermined angle threshold value；
If detecting the sum of angle value of each angle of second moving area not equal to first preset angle
Spend threshold value, it is determined that the current location point is in outside second moving area.
6. according to the method in claim 2 or 3, which is characterized in that described according to the first movement region and/or described
Second moving area, determines whether the current location point is in outside the default moving area, comprising:
Determine each angle and institute that the current location point is connect with each adjacent vertex in the first movement region
State each angle that current location point is connect with each adjacent vertex of second moving area；
Calculate the described each of the sum of the angle value of each angle in the first movement region and second moving area
The sum of angle value of a angle is added obtained angle value summation；
Judge whether the angle value summation is equal to the second predetermined angle threshold value；
If it is judged that the angle value summation is not equal to second predetermined angle threshold value, it is determined that the current location Dian Chu
In outside the default moving area.
7. the method according to claim 1, wherein if it is determined that the current location is in the default shifting
Outside dynamic region, then forbids the robot to stop mobile and alarms, comprising:
If it is determined that the current location is in outside the default moving area, then the robot is forbidden to stop movement；
Control instruction is sent to the terminal device for establishing communication connection with the robot, the control instruction is used to indicate described
Warning device on terminal device is alarmed.
8. a kind of detection and localization equipment, which is characterized in that including for executing as described in any one of claim 1-7 claim
Method unit.
9. a kind of detection and localization equipment, which is characterized in that including processor, input equipment, output equipment and memory, the place
It manages device, input equipment, output equipment and memory to be connected with each other, wherein the memory is described for storing computer program
Computer program includes program instruction, and the processor is configured for calling described program instruction, executes such as claim 1-7
Described in any item methods.
10. a kind of computer readable storage medium, which is characterized in that the computer storage medium is stored with computer program,
The computer program includes program instruction, and described program instruction makes the processor execute such as right when being executed by a processor
It is required that the described in any item methods of 1-7.
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| CN201810841454.XA CN108972552A (en) | 2018-07-26 | 2018-07-26 | A kind of position finding and detection method of robot, equipment and computer-readable medium |
| PCT/CN2018/108670 WO2020019509A1 (en) | 2018-07-26 | 2018-09-29 | Method and device for positioning and detecting robot, and computer-readable storage medium |
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| CN201810841454.XA CN108972552A (en) | 2018-07-26 | 2018-07-26 | A kind of position finding and detection method of robot, equipment and computer-readable medium |
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| CN110432832A (en) * | 2019-07-03 | 2019-11-12 | 平安科技（深圳）有限公司 | Method of adjustment, device and the robot of robot motion track |
| CN113375614A (en) * | 2021-06-29 | 2021-09-10 | 北京微纳星空科技有限公司 | Unmanned equipment monitoring method and device, electronic equipment and storage medium |
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