CN109238282B - Robot positioning detection method and device and computer readable medium - Google Patents
Robot positioning detection method and device and computer readable medium Download PDFInfo
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- CN109238282B CN109238282B CN201810852269.0A CN201810852269A CN109238282B CN 109238282 B CN109238282 B CN 109238282B CN 201810852269 A CN201810852269 A CN 201810852269A CN 109238282 B CN109238282 B CN 109238282B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- 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
Abstract
The embodiment of the invention discloses a positioning detection method, equipment and a computer readable medium of a robot, wherein the method comprises the following steps: acquiring a current position point of the robot; detecting whether a preset moving area corresponding to the robot is in a convex shape or not, wherein the preset moving area is a polygonal area determined by taking a plurality of ultra-wideband positioning devices as each vertex; if the preset moving region is detected to be convex, determining each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and calculating the sum of the areas of the triangular regions; if the sum of the areas of the triangular areas is not equal to the area of the preset moving area, determining that the current position point is outside the preset moving area; the robot is forbidden to move and give an alarm, so that the accuracy of positioning detection of the robot is improved, and the robot is effectively prevented from being stolen.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a positioning detection method, a device, and a computer readable medium.
Background
With the development of artificial intelligence, the application of the robot in various industries is more and more extensive, and more robots are put in the market.
Disclosure of Invention
The embodiment of the invention provides a robot positioning detection method, equipment and a computer readable medium, which can improve the accuracy of robot positioning detection and effectively prevent a robot from being stolen.
In a first aspect, an embodiment of the present invention provides a method for detecting a position of a robot, where the method includes:
acquiring a current position point of the robot;
acquiring a current position point of the robot;
detecting whether a preset moving area corresponding to the robot is in a convex shape or not, wherein the preset moving area is a polygonal area determined by taking a plurality of ultra-wideband positioning devices as each vertex;
if the preset moving region is detected to be convex, determining each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and calculating the sum of the areas of the triangular regions;
if the sum of the areas of the triangular areas is not equal to the area of the preset moving area, determining that the current position point is outside the preset moving area;
and if the current position point is determined to be outside the preset moving area, the robot is prohibited from moving and an alarm is given.
Further, the method further comprises:
if the preset moving area is detected to be in a concave edge shape, dividing the preset moving area according to a preset rule to obtain a first moving area and a second moving area, wherein the shape of the first moving area and the shape of the second moving area are both convex edges;
and determining whether the current position point is outside the preset moving area or not according to the first moving area and/or the second moving area.
Further, the dividing the preset moving area according to a preset rule to obtain a first moving area and a second moving area includes:
establishing a plane rectangular coordinate system of the preset moving area by taking any position point in the preset moving area as an origin;
determining coordinate information of each vertex in the preset moving area in the plane rectangular coordinate system;
determining edge vectors of all edges of the concave edge corresponding to the preset moving area according to coordinate information of all vertexes in the plane rectangular coordinate system;
and dividing the preset moving area according to the edge vector of each edge to obtain the first moving area and the second moving area.
Further, the determining whether the current location point is outside the preset moving area according to the first moving area and/or the second moving area includes:
determining each triangular area obtained by connecting the current position point with each adjacent vertex of the first moving area;
judging whether the current position point is outside the first moving area or not according to the sum of the areas of the triangular areas of the first moving area;
if the current position point is judged to be outside the first moving area, determining each triangular area obtained by connecting the current position point and each adjacent vertex of the second moving area;
detecting whether the current position point is outside the second moving area according to the sum of the areas of the triangular areas of the second moving area;
and if the current position point is detected to be outside the second moving area, determining that the current position point is outside the preset moving area.
Further, the determining whether the current location point is outside the first moving area includes:
detecting whether the sum of the current position point and the area of each triangular area of the first moving area is equal to the area of the first moving area;
determining that the current location point is outside the first moving region if it is detected that the sum of the areas of the triangular regions of the first moving region is not equal to the area of the first moving region;
the detecting whether the current location point is outside the second moving region includes:
detecting whether the sum of the current position point and the area of each triangular area of the second moving area is equal to the area of the second moving area;
and if the sum of the areas of the triangular areas of the second moving area is not equal to the area of the second moving area, determining that the current position point is outside the second moving area.
Further, the determining whether the current location point is outside the preset moving area according to the first moving area and/or the second moving area includes:
determining each triangular area obtained by connecting the current position point with each adjacent vertex of the first moving area and each triangular area obtained by connecting the current position point with each adjacent vertex of the second moving area;
calculating the sum of the areas of the triangular regions of the first moving region and the sum of the areas of the triangular regions of the second moving region;
judging whether the sum of the areas is equal to the area of the preset moving area or not;
and if the sum of the areas is judged not to be equal to the area of the preset moving area, determining that the current position point is outside the preset moving area.
Further, if it is determined that the current position is outside the preset moving area, prohibiting the robot from stopping moving and giving an alarm, including:
if the current position is determined to be outside the preset moving area, prohibiting the robot from stopping moving;
and sending a control instruction to terminal equipment which establishes communication connection with the robot, wherein the control instruction is used for indicating an alarm device on the terminal equipment to alarm.
In a second aspect, an embodiment of the present invention provides a location detection apparatus, which includes means for performing the method of the first aspect.
In a third aspect, an embodiment of the present invention provides another location detection apparatus, including a processor, an input apparatus, an output apparatus, and a memory, where the processor, the input apparatus, the output apparatus, and the memory are connected to each other, where the memory is used to store a computer program that supports the location detection apparatus to perform the above method, and the computer program includes program instructions, and the processor is configured to call the program instructions to perform the method of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored, the computer program comprising program instructions, which, when executed by a processor, cause the processor to perform the method of the first aspect.
According to the embodiment of the invention, by acquiring the current position point of the robot, if the preset moving area is detected to be convex, each triangular area obtained by connecting the current position point and each adjacent vertex of the preset moving area can be determined, whether the current position point is outside the preset moving area is determined according to the sum of the areas of the triangular areas, and if the current position point is outside the preset moving area, the robot can be prohibited from moving and an alarm can be given, so that the positioning control of the robot is realized, the robot is effectively prevented from being stolen, and the safety of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a positioning detection method for a robot according to an embodiment of the present invention;
fig. 2 is a schematic view of an interface between a robot and a preset moving area according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an interface between another robot and a preset moving area according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another positioning detection method for a robot according to an embodiment of the present invention;
fig. 5 is a schematic view of an interface between another robot and a preset moving area according to an embodiment of the present invention;
FIG. 6 is a schematic block diagram of a positioning detection apparatus provided in an embodiment of the present invention;
fig. 7 is a schematic block diagram of another positioning detection apparatus provided in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The positioning detection method of the robot provided by the embodiment of the invention can be executed by a positioning detection system, wherein the positioning detection system comprises positioning detection equipment and the robot, and in some embodiments, the positioning detection equipment can be arranged on intelligent terminals such as mobile phones, computers, tablets and intelligent watches. In some embodiments, a communication link may be established between the position detection device and the robot for two-way communication. In some embodiments, the positioning detection device may be mounted on the robot, in some embodiments the positioning detection device may be spatially independent from the robot, in some embodiments the positioning detection device may be a component of the robot, i.e. the robot comprises a positioning detection device. In some embodiments, the robot may include: the mobile robots of unmanned automobiles, unmanned planes, unmanned ships and the like. In the positioning detection system, the robot can send the acquired current position point to the positioning detection equipment, so that the positioning detection equipment can acquire the current position point of the robot and detect whether the shape of a preset moving area corresponding to the robot is convex. If the positioning detection equipment detects that the preset moving area is in a convex shape, determining each triangular area obtained by connecting the current position point and each adjacent vertex of the preset moving area, calculating the sum of the areas of each triangular area, determining whether the current position point is outside the preset moving area according to the sum of the areas of each triangular area, if the current position point is outside the preset moving area, sending a control instruction to the robot, and after receiving the control instruction, the robot prohibits moving and gives an alarm. The following schematically illustrates a positioning detection method according to an embodiment of the present invention.
In the embodiment of the invention, the positioning detection device can acquire the current position point of the robot and then detect whether the preset moving area set for the robot is a concave polygon area, wherein the preset moving area is a polygon area determined by taking a plurality of ultra-wideband positioning devices as each vertex. In some embodiments, the polygonal area may be concave or convex in shape. If the preset moving region is detected to be a convex polygon, the positioning detection device may determine, according to the current position point and the positions of the vertices in the preset moving region of the concave polygon, triangular regions obtained by connecting the current position point and adjacent vertices in the preset moving region of the concave polygon, and calculate the sum of the areas of the triangular regions. The positioning detection equipment can determine whether the current position point is outside the preset moving area according to the sum of the areas of the triangular areas, and if the current position point is outside the preset moving area, the robot is controlled to stop moving and give an alarm, so that the robot is prevented from being stolen or maliciously guided under the condition of no-person supervision, and a user can be timely reminded by utilizing an alarm technology, so that the risk that the robot is stolen is reduced.
Referring to fig. 1, fig. 1 is a schematic flowchart of a positioning detection method for a robot according to an embodiment of the present invention, and as shown in fig. 1, the method may be executed by a positioning detection device, and a specific explanation of the positioning detection device is as described above, and is not repeated here. Specifically, the method of the embodiment of the present invention includes the following steps.
S101: and acquiring the current position point of the robot.
In the embodiment of the invention, the positioning detection equipment can acquire the current position point of the robot in real time by using the ultra-wideband positioning equipment arranged on the robot.
S102: and detecting whether the shape of the preset moving area corresponding to the robot is a convex edge or not.
In the embodiment of the invention, the positioning detection device can detect whether the shape of the preset moving area corresponding to the robot is a convex edge. In one embodiment, the preset moving area may be a polygonal area determined by using a plurality of ultra-wideband positioning devices as respective vertices, and the polygonal area may be a concave edge or a convex edge.
In one embodiment, the user may determine the preset moving area by using a plurality of ultra-wideband positioning devices for each vertex, wherein the positioning detection device may control the robot to move within the preset moving area. In a specific implementation process, a user can set a plurality of ultra-wideband positioning devices on the ground, the position point of each ultra-wideband positioning device is used as each vertex, and a polygonal closed-loop area determined by a connecting line between every two adjacent vertices is used as the preset moving area.
In one embodiment, if the preset moving area is in a concave shape, the preset moving area may be divided into a plurality of convex shapes according to a preset rule. In some embodiments, when the preset moving area is divided, the concave-edge-shaped preset moving area may be divided into a plurality of convex edges by a user. In some embodiments, when dividing the preset moving region, the positioning detection device may divide the preset moving region according to a preset rule according to the obtained preset moving region, so as to obtain a first moving region and a second moving region.
In one embodiment, a plane rectangular coordinate system of a preset moving area is established by using an ultra-wideband positioning algorithm configured in each ultra-wideband positioning device and an ultra-wideband positioning algorithm (such as an AOA algorithm) of the ultra-wideband positioning device set in the robot, and taking any position point in the preset moving area as an origin, so as to obtain coordinate information of each vertex in the preset moving area in the plane rectangular coordinate system. The positioning detection device may determine, according to the coordinate information of each vertex in the rectangular plane coordinate system, an edge vector of each edge of the concave polygon corresponding to the preset moving region, and divide the preset moving region according to the edge vector of each edge, so as to obtain the first moving region and the second moving region.
S103: and if the preset moving region is detected to be convex, determining each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and calculating the sum of the areas of the triangular regions.
In the embodiment of the present invention, if the positioning detection device detects that the preset moving region is in the shape of a convex polygon, each triangular region obtained by connecting the current position point and each adjacent vertex in the preset moving region may be determined according to the current position point and the position of each vertex in the preset moving region, and the sum of the areas of each triangular region may be calculated. In a specific implementation process, if the preset moving area is in a convex shape, the positioning detection device may determine, according to the coordinate information of the current position point of the robot obtained in real time and the coordinate information of each vertex in the preset moving area, the sum of the areas of each triangular area formed by connecting the current position point of the robot and each adjacent vertex by using an ultra-wideband positioning algorithm.
Specifically, fig. 2 is an exemplary illustration, and fig. 2 is an interface schematic diagram of a robot and a preset moving area according to an embodiment of the present invention, as shown in fig. 2, including: the robot 21 presets a moving area 22, and the vertexes a, B, C, D, E, and F of the preset moving area 22. The positioning detection device can acquire coordinate information of a current position point R of the robot 21 and coordinate information of positions of vertices A, B, C, D, E, F in the preset moving area 22 in real time, and determine, according to the coordinate information of the current position point R of the robot 21 and the coordinate information of positions of vertices A, B, C, D, E, F in the preset moving area 22, that each triangular area formed by connecting the current position point R of the robot 21 and each adjacent vertex is: Δ ARF, Δ ARB, Δ BRC, Δ CRD, Δ DRE, Δ ERF, and calculating the sum of the areas of the triangular regions as: s ═ S Δ ARF + S Δ ARB + S Δ BRC + S Δ CRD + S Δ DRE + S Δ ERF.
S104: if it is detected that the sum of the areas of the triangular regions is not equal to the area of the preset moving region, it is determined that the current location point is outside the preset moving region, and step S105 is performed.
In this embodiment of the present invention, if the positioning detection device detects that the sum of the areas of the triangular regions is not equal to the area of the preset moving region, it is determined that the current location point is outside the preset moving region.
In one embodiment, if the preset moving region is convex, the positioning detection device may detect whether the sum of the areas of the triangular regions in the preset moving region is equal to the area of the preset moving region, and if the sum of the areas of the triangular regions in the preset moving region is not equal to the area of the preset moving region, that is, the area ABCDEF, it may be determined that the current position point is outside the preset moving region.
Specifically, as illustrated in fig. 2, if the preset moving area 22 is a convex shape, the positioning detection device may detect whether S is equal to the area of the preset moving area 22 according to the calculated sum S of the areas of the triangular areas in the preset moving area 22, i.e., S Δ ARF + S Δ ARB + S Δ BRC + S Δ CRD + S Δ DRE + S Δ ERF, and may determine that the current position point R is within the preset moving area 22 if S is equal to the area of the preset moving area 22, i.e., the area of ABCDEF.
For another example, as shown in fig. 3, fig. 3 is a schematic interface diagram of another robot and a preset moving area according to an embodiment of the present invention, including: the robot 31 presets a moving area 32, and a vertex a, a vertex B, a vertex C, a vertex D, a vertex E, and a vertex F of the preset moving area 32. The positioning detection device can acquire coordinate information of a current position point R of the robot 31 and coordinate information of positions of vertices A, B, C, D, E, F in the preset moving area 32 in real time, and determine, according to the coordinate information of the current position point R of the robot 31 and the coordinate information of positions of vertices A, B, C, D, E, F in the preset moving area 32, each triangular area formed by connecting the current position point R of the robot 31 and each adjacent vertex by using an ultra-wideband positioning algorithm is as follows: Δ ARF, Δ ARB, Δ BRC, Δ CRD, Δ DRE, Δ ERF, and calculating the sum of the areas of the triangular regions as: if S is detected not to be equal to the area of the preset moving area 32, i.e., the area of ABCDEF, it may be determined that the current position point R is outside the preset moving area 32.
S105: and if the current position point is determined to be outside the preset moving area, the robot is prohibited from moving and an alarm is given.
In the embodiment of the invention, if the positioning detection equipment determines that the current position point is outside the preset moving area, the robot can be prohibited from moving and an alarm can be given.
In an embodiment, the positioning detection device may be disposed on the robot, and when it is determined that the current position point is outside the preset moving area, the positioning detection device may prohibit the robot from moving and trigger an alarm device of the robot to alarm.
In an embodiment, the positioning detection device may be disposed on a terminal device that establishes a communication connection with the robot, and when determining that the current location point is outside the preset moving area, the positioning detection device may send a control instruction to the robot to control the robot to prohibit movement and trigger an alarm device of the robot to alarm.
In an embodiment, the alarm device may be disposed on a terminal device that establishes a communication connection with the robot, and the positioning detection device may send a control instruction to the terminal device that establishes a communication connection with the robot when determining that the current location point is outside the preset moving area, so as to trigger the alarm device on the terminal device to alarm.
In an embodiment, when the positioning detection device determines that the current position point is outside the preset moving area, the positioning detection device may trigger an alarm device provided on the robot and one or more alarm devices on terminal devices that establish communication connection with the robot to alarm at the same time.
In some embodiments, the alarm device may include any one of a voice alarm device, a vibration alarm device, a ring alarm device, and the like. In some embodiments, the alarm mode of the alarm device may be any one or more of voice prompt, continuous vibration, alarm bell, and the like.
In the embodiment of the present invention, the positioning detection device may obtain a current position point of the robot, may determine, if it is detected that the preset moving region is in a convex shape, each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and determine, according to a sum of areas of the triangular regions, whether the current position point is outside the preset moving region, and may prohibit the robot from moving and perform an alarm if it is determined that the current position point is outside the preset moving region. By the mode, the positioning control of the robot is realized, the robot is effectively prevented from being stolen, and the safety of the robot is improved.
Referring to fig. 4, fig. 4 is a schematic flowchart of another positioning detection method for a robot according to an embodiment of the present invention, and as shown in fig. 4, the method may be executed by a positioning detection device, and a specific explanation of the positioning detection device is as described above, and is not repeated here. The embodiment of the present invention is different from the embodiment shown in fig. 1, in that the embodiment of the present invention is used for explaining an implementation process of the positioning detection method for the robot when it is detected that the shape of the preset moving area corresponding to the robot is the concave edge shape. Specifically, the method of the embodiment of the present invention includes the following steps.
S401: and acquiring the current position point of the robot.
In the embodiment of the invention, the positioning detection equipment can acquire the current position point of the robot.
S402: if the preset moving area corresponding to the robot is detected to be in a concave edge shape, dividing the preset moving area according to a preset rule to obtain a first moving area and a second moving area.
In the embodiment of the present invention, the positioning detection device may detect a shape of a preset moving region corresponding to the robot, and if it is detected that the shape of the preset moving region is a concave edge shape, the preset moving region may be divided according to a preset rule to obtain a first moving region and a second moving region, where the shape of the first moving region and the shape of the second moving region are both convex edges. In an embodiment, the preset rule may include any one or more of a vector segmentation method, a rotation segmentation method, a traversal method, and the like, and the preset rule is not specifically limited in the embodiment of the present invention.
In an embodiment, when the positioning detection device divides the preset moving region according to a preset rule, a planar rectangular coordinate system of the preset moving region may be established by using any position point in the preset moving region as an origin, coordinate information of each vertex in the preset moving region in the planar rectangular coordinate system is determined, an edge vector of each edge of the concave polygon corresponding to the preset moving region is determined according to the coordinate information of each vertex in the planar rectangular coordinate system, and the preset moving region is divided according to the edge vector of each edge to obtain the first moving region and the second moving region.
Specifically, for example, the positioning detection device may obtain a planar rectangular coordinate system of the preset moving region, which is established with an arbitrary position point in the preset moving region as an origin, determine coordinate information of each vertex in the planar rectangular coordinate system in the preset moving region, determine an edge vector of each edge of the concave polygon corresponding to the preset moving region according to the coordinate information of each vertex in the planar rectangular coordinate system, calculate a cross product result Z of the edge vector in a counterclockwise direction, and record a symbol of the cross product result Z component. If the Z component becomes negative, the preset moving area is determined to be concave-sided, so that the polygon can be decomposed along the extension line of the first side in the cross product vector pair. And dividing the preset moving area according to the edge vector of each edge by repeating the previous steps on the two newly obtained polygons to obtain the first moving area and the second moving area.
In an embodiment, when the positioning detection device divides the preset moving region according to a preset rule, the positioning detection device may surround the preset moving region according to the rectangular plane coordinate system of the preset moving region, which is established by using any position point in the preset moving region as an origin, around the preset moving regionRotating a preset moving area anticlockwise, and enabling each vertex V of the preset moving areakTranslating to the coordinate origin of the plane rectangular coordinate system, and rotating clockwise to enable the next vertex Vk+1On the x-axis. If it is in contact with the Vk+1Adjacent next vertex Vk+2And determining that the preset moving area is in a concave edge shape below the x axis, and dividing the preset moving area along the x axis to obtain the first moving area and the second moving area.
S403: and determining whether the current position point is outside the preset moving area or not according to the first moving area and/or the second moving area.
In this embodiment of the present invention, the positioning detection device may determine whether the current location point is outside the preset moving area according to the first moving area and/or the second moving area.
In an embodiment, the positioning detection device may determine triangular regions obtained by connecting the current position point and adjacent vertices of the first moving region, and determine whether the current position point is outside the first moving region according to a sum of areas of the triangular regions of the first moving region. If the positioning detection device determines that the current position point is outside the first moving region, it may further determine each triangular region obtained by connecting the current position point with each adjacent vertex of the second moving region, and detect whether the current position point is outside the second moving region according to the sum of the areas of each triangular region of the second moving region, and if it is detected that the current position point is outside the second moving region, it is determined that the current position point is outside the preset moving region.
Specifically, fig. 5 is an exemplary illustration, and fig. 5 is a schematic interface diagram of another robot and a preset moving area according to an embodiment of the present invention, as shown in fig. 5, including: the robot 51, the preset movement area 52, the first movement area 521, and the second movement area 522. The positioning detection apparatus may acquire coordinate information of the current position point R of the robot 51 and coordinate information of each vertex A, B, E, F of the first moving area 521, determine each triangular area Δ ARF, Δ ARB, Δ BRE, Δ ERF formed by connecting the current position R of the robot 51 with each adjacent vertex in the first moving area 521 by using an ultra-wideband positioning algorithm, calculate a sum S1 of areas of each triangular area as S Δ ARF + S Δ ARB + S Δ BRE + S Δ ERF, and determine that the current position point is outside the first moving area 521 if it is detected that the sum S1 of the areas is not equal to the area of the first moving area 521, i.e., the area of the area ABEF. The positioning detection apparatus may further determine triangular regions, which are respectively Δ BRE, Δ BRC, Δ CRD, and Δ DRE, where the current position point R of the robot 51 is connected to adjacent vertices of the second moving region 522, and calculate a sum S2 of areas of the triangular regions as S Δ BRE + S Δ BRC + S Δ CRD + S Δ DRE, and may determine that the current position point R is outside the second moving region 522 if it is detected that the sum S2 of the areas is not equal to the area of the second moving region 522, that is, the area of the region BCDE. Therefore, the positioning detection device can determine that the current position point R is outside the preset movement region 52.
In one embodiment, the positioning detection device may detect whether a sum of the current position point and the areas of the triangular regions of the first moving region is equal to an area of the first moving region, determine that the current position point is outside the first moving region if it is detected that the sum of the areas of the triangular regions of the first moving region is not equal to the area of the first moving region, and determine that the current position point is outside the preset moving region if it is detected that the current position point is outside the first moving region.
In one embodiment, when determining that the current position point is outside the first moving region, the positioning detection device may detect whether a sum of areas of the current position point and the triangular regions of the second moving region is equal to an area of the second moving region, and if detecting that the sum of areas of the triangular regions of the second moving region is not equal to the area of the second moving region, determine that the current position point is outside the second moving region.
In one embodiment, the positioning detection device may first detect whether the current location point is outside the second moving area, and if the current location point is outside the second moving area, further detect whether the current location point is outside the first moving area. In the embodiment of the present invention, the detection sequence for detecting whether the current position point is outside the first moving region and whether the current position point is outside the second moving region is not specifically limited.
In one embodiment, the positioning detection apparatus may determine triangular regions in which the current position point is connected to adjacent vertices of the first movement region and triangular regions in which the current position point is connected to adjacent vertices of the second movement region, calculate an area sum obtained by adding a sum of areas of the triangular regions of the first movement region and a sum of areas of the triangular regions of the second movement region, and determine whether the area sum is equal to an area of the preset movement region. If the sum of the areas is not equal to the area of the preset moving region, the positioning detection device may determine that the current position point is outside the preset moving region.
Specifically, as an example shown in fig. 5, the positioning detection apparatus may determine triangular regions where the current position point R of the robot 51 is connected to adjacent vertices of the first moving region 521 and triangular regions Δ ARF, Δ ARB, Δ BRE, Δ ERF where the current position point is connected to adjacent vertices of the second moving region, calculate a sum S1 of areas of the triangular regions Δ ARF, Δ ARB, Δ BRE, Δ ERF of the first moving region 521 and a sum S2 of areas Δ ARF + Δ ARB + Δ BRE + Δ ERF of the triangular regions of the second moving region 522, determine a sum S1+ S2, determine whether the sum S is equal to a sum S2 of areas of the predetermined moving region 52, and determine that the sum S is not equal to a sum S52 of areas of the predetermined moving region abef and the predetermined moving region abef is not equal to the predetermined area abef 52, the location detection device may determine that the current location point R is outside the preset movement area 52.
S404: and if the current position point is determined to be outside the preset moving area, the robot is prohibited from moving and an alarm is given.
In the embodiment of the invention, if the positioning detection equipment determines that the current position point is outside the preset moving area, the robot is prohibited from moving and an alarm is given.
In an embodiment, the positioning detection device may be disposed on the robot, and when it is determined that the current position point is outside the preset moving area, the positioning detection device may prohibit the robot from moving and trigger an alarm device of the robot to alarm.
In an embodiment, the positioning detection device may be disposed on a terminal device that establishes a communication connection with the robot, and when determining that the current location point is outside the preset moving area, the positioning detection device may send a control instruction to the robot to control the robot to prohibit movement and trigger an alarm device of the robot to alarm.
In an embodiment, the alarm device may be disposed on a terminal device that establishes a communication connection with the robot, and the positioning detection device may send a control instruction to the terminal device that establishes a communication connection with the robot when determining that the current location point is outside the preset moving area, so as to trigger the alarm device on the terminal device to alarm.
In an embodiment, when the positioning detection device determines that the current position point is outside the preset moving area, the positioning detection device may trigger an alarm device provided on the robot and one or more alarm devices on terminal devices that establish communication connection with the robot to alarm at the same time. In some embodiments, the alarm device is explained as described above and will not be described herein. In some embodiments, the alarm mode of the alarm device is as described above, and is not described herein again.
In the embodiment of the invention, the positioning detection equipment can acquire a current position point of the robot, if the preset moving area corresponding to the robot is detected to be in a concave edge shape, the preset moving area is divided according to a preset rule to obtain a first moving area and a second moving area, whether the current position point is outside the preset moving area or not is determined according to the first moving area and/or the second moving area, and if the current position point is outside the preset moving area, the robot is prohibited from moving and an alarm is given. Through this kind of mode, can avoid when the predetermined removal region of machine is the concave edge shape, the misjudgment the current position point of aircraft is in outside the predetermined region, through right the predetermined removal region of concave edge shape divides into a plurality of convex edge shape regions, has improved the accuracy and the validity that carry out the location detection to the robot, has further ensured the safety of robot.
The embodiment of the invention also provides a positioning detection device, which is used for executing the unit of the method in any one of the preceding claims. Specifically, referring to fig. 6, fig. 6 is a schematic block diagram of a positioning detection apparatus according to an embodiment of the present invention. The positioning detection device of the present embodiment includes: an acquisition unit 601, a detection unit 602, a first determination unit 603, a second determination unit 604, and an alarm unit 605.
An acquisition unit 601 configured to acquire a current position point of the robot;
a detecting unit 602, configured to detect whether a preset moving area corresponding to the robot is a convex polygon, where the preset moving area is a polygon area determined by using a plurality of ultra-wideband positioning devices as vertices;
a first determining unit 603, configured to determine, if it is detected that the preset moving region is a convex polygon, each triangular region obtained by connecting the current position point and each adjacent vertex of the preset moving region, and calculate a sum of areas of the triangular regions;
a second determining unit 604, configured to determine that the current location point is outside the preset moving region if it is detected that the sum of the areas of the triangular regions is not equal to the area of the preset moving region;
and an alarm unit 605, configured to prohibit the robot from moving and giving an alarm if it is determined that the current position point is outside the preset moving area.
Further, the first determining unit 603 is further configured to:
if the preset moving area is detected to be in a concave edge shape, dividing the preset moving area according to a preset rule to obtain a first moving area and a second moving area, wherein the shape of the first moving area and the shape of the second moving area are both convex edges;
and determining whether the current position point is outside the preset moving area or not according to the first moving area and/or the second moving area.
Further, the first determining unit 603 is configured to, when the preset moving area is divided according to a preset rule to obtain a first moving area and a second moving area, specifically:
establishing a plane rectangular coordinate system of the preset moving area by taking any position point in the preset moving area as an origin;
determining coordinate information of each vertex in the preset moving area in the plane rectangular coordinate system;
determining edge vectors of all edges of the concave edge corresponding to the preset moving area according to coordinate information of all vertexes in the plane rectangular coordinate system;
and dividing the preset moving area according to the edge vector of each edge to obtain the first moving area and the second moving area.
Further, when determining whether the current location point is outside the preset moving area according to the first moving area and/or the second moving area, the first determining unit 603 is specifically configured to:
determining each triangular area obtained by connecting the current position point with each adjacent vertex of the first moving area;
judging whether the current position point is outside the first moving area or not according to the sum of the areas of the triangular areas of the first moving area;
if the current position point is judged to be outside the first moving area, determining each triangular area obtained by connecting the current position point and each adjacent vertex of the second moving area;
detecting whether the current position point is outside the second moving area according to the sum of the areas of the triangular areas of the second moving area;
and if the current position point is detected to be outside the second moving area, determining that the current position point is outside the preset moving area.
Further, when the first determining unit 603 determines whether the current location point is outside the first moving area, it is specifically configured to:
detecting whether the sum of the current position point and the area of each triangular area of the first moving area is equal to the area of the first moving area;
determining that the current location point is outside the first moving region if it is detected that the sum of the areas of the triangular regions of the first moving region is not equal to the area of the first moving region;
when the first determining unit 603 determines whether the current location point is outside the second moving area, the first determining unit is specifically configured to:
detecting whether the sum of the current position point and the area of each triangular area of the second moving area is equal to the area of the second moving area;
and if the sum of the areas of the triangular areas of the second moving area is not equal to the area of the second moving area, determining that the current position point is outside the second moving area.
Further, when determining, by the first determining unit 603, whether the current location point is outside the preset moving area according to the first moving area and/or the second moving area, specifically, the first determining unit is configured to:
determining each triangular area obtained by connecting the current position point with each adjacent vertex of the first moving area and each triangular area obtained by connecting the current position point with each adjacent vertex of the second moving area;
calculating the sum of the areas of the triangular regions of the first moving region and the sum of the areas of the triangular regions of the second moving region;
judging whether the sum of the areas is equal to the area of the preset moving area or not;
and if the sum of the areas is judged not to be equal to the area of the preset moving area, determining that the current position point is outside the preset moving area.
Further, the alarm unit 605 is specifically configured to:
if the current position is determined to be outside the preset moving area, prohibiting the robot from stopping moving;
and sending a control instruction to terminal equipment which establishes communication connection with the robot, wherein the control instruction is used for indicating an alarm device on the terminal equipment to alarm.
In the embodiment of the present invention, the positioning detection device may obtain a current position point of the robot, may determine, if it is detected that the preset moving region is in a convex shape, each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and determine, according to a sum of areas of the triangular regions, whether the current position point is outside the preset moving region, and may prohibit the robot from moving and perform an alarm if it is determined that the current position point is outside the preset moving region. By the mode, the positioning control of the robot is realized, the robot is effectively prevented from being stolen, and the safety of the robot is improved.
Referring to fig. 7, fig. 7 is a schematic block diagram of another positioning detection apparatus provided in the embodiment of the present invention. The positioning detection device in the present embodiment as shown in the figure may include: one or more processors 701; one or more input devices 702, one or more output devices 703, and memory 704. The processor 701, the input device 702, the output device 703, and the memory 704 are connected by a bus 705. The memory 704 is used to store a computer program comprising program instructions, and the processor 701 is used to execute the program instructions stored by the memory 704. Wherein, the processor 701 is configured to call the program instruction to execute:
acquiring a current position point of the robot;
detecting whether a preset moving area corresponding to the robot is in a convex shape or not, wherein the preset moving area is a polygonal area determined by taking a plurality of ultra-wideband positioning devices as each vertex;
if the preset moving region is detected to be convex, determining each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and calculating the sum of the areas of the triangular regions;
if the sum of the areas of the triangular areas is not equal to the area of the preset moving area, determining that the current position point is outside the preset moving area;
and if the current position point is determined to be outside the preset moving area, the robot is prohibited from moving and an alarm is given.
Further, the processor 701 is further configured to perform the following steps:
if the preset moving area is detected to be in a concave edge shape, dividing the preset moving area according to a preset rule to obtain a first moving area and a second moving area, wherein the shape of the first moving area and the shape of the second moving area are both convex edges;
and determining whether the current position point is outside the preset moving area or not according to the first moving area and/or the second moving area.
Further, the processor 701 is configured to perform the following steps:
establishing a plane rectangular coordinate system of the preset moving area by taking any position point in the preset moving area as an origin;
determining coordinate information of each vertex in the preset moving area in the plane rectangular coordinate system;
determining edge vectors of all edges of the concave edge corresponding to the preset moving area according to coordinate information of all vertexes in the plane rectangular coordinate system;
and dividing the preset moving area according to the edge vector of each edge to obtain the first moving area and the second moving area.
Further, the processor 701 is configured to perform the following steps:
determining each triangular area obtained by connecting the current position point with each adjacent vertex of the first moving area;
judging whether the current position point is outside the first moving area or not according to the sum of the areas of the triangular areas of the first moving area;
if the current position point is judged to be outside the first moving area, determining each triangular area obtained by connecting the current position point and each adjacent vertex of the second moving area;
detecting whether the current position point is outside the second moving area according to the sum of the areas of the triangular areas of the second moving area;
and if the current position point is detected to be outside the second moving area, determining that the current position point is outside the preset moving area.
Further, when the processor 701 determines whether the current location point is outside the first moving area, it is specifically configured to execute the following steps:
detecting whether the sum of the current position point and the area of each triangular area of the first moving area is equal to the area of the first moving area;
determining that the current location point is outside the first moving region if it is detected that the sum of the areas of the triangular regions of the first moving region is not equal to the area of the first moving region;
the processor 701 is specifically configured to, when detecting whether the current location point is outside the second moving area, execute the following steps:
detecting whether the sum of the current position point and the area of each triangular area of the second moving area is equal to the area of the second moving area;
and if the sum of the areas of the triangular areas of the second moving area is not equal to the area of the second moving area, determining that the current position point is outside the second moving area.
Further, the processor 701 is configured to perform the following steps:
determining each triangular area obtained by connecting the current position point with each adjacent vertex of the first moving area and each triangular area obtained by connecting the current position point with each adjacent vertex of the second moving area;
calculating the sum of the areas of the triangular regions of the first moving region and the sum of the areas of the triangular regions of the second moving region;
judging whether the sum of the areas is equal to the area of the preset moving area or not;
and if the sum of the areas is judged not to be equal to the area of the preset moving area, determining that the current position point is outside the preset moving area.
Further, the processor 701 is configured to perform the following steps:
if the current position is determined to be outside the preset moving area, prohibiting the robot from stopping moving;
and sending a control instruction to terminal equipment which establishes communication connection with the robot, wherein the control instruction is used for indicating an alarm device on the terminal equipment to alarm.
In the embodiment of the present invention, the positioning detection device may obtain a current position point of the robot, may determine, if it is detected that the preset moving region is in a convex shape, each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and determine, according to a sum of areas of the triangular regions, whether the current position point is outside the preset moving region, and may prohibit the robot from moving and perform an alarm if it is determined that the current position point is outside the preset moving region. By the mode, the positioning control of the robot is realized, the robot is effectively prevented from being stolen, and the safety of the robot is improved.
It should be understood that, in the embodiment of the present invention, the Processor 701 may be a Central Processing Unit (CPU), and the Processor may also be other general processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable gate arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The input devices 702 may include a touch pad, microphone, etc., and the output devices 703 may include a display (LCD, etc.), speakers, etc.
The memory 704 may include both read-only memory and random-access memory, and provides instructions and data to the processor 701. A portion of the memory 704 may also include non-volatile random access memory. For example, the memory 704 may also store device type information.
In specific implementation, the processor 701, the input device 702, and the output device 703 described in this embodiment of the present invention may execute the implementation described in the method embodiment described in fig. 1 or fig. 4 of the positioning detection method provided in this embodiment of the present invention, and may also execute the implementation of the positioning detection device described in fig. 6 or fig. 7 in this embodiment of the present invention, which is not described herein again.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for positioning detection described in the embodiment corresponding to fig. 1 or fig. 4 is implemented, and a positioning detection device according to the embodiment corresponding to fig. 6 or fig. 7 of the present invention may also be implemented, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the positioning detection device according to any of the foregoing embodiments, for example, a hard disk or a memory of the positioning detection device. The computer readable storage medium may also be an external storage device of the positioning detection device, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the positioning detection device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the location detection device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the positioning detection device. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of the embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (7)
1. A positioning detection method of a robot, comprising:
acquiring a current position point of the robot;
detecting whether a preset moving area corresponding to the robot is in a convex shape or not, wherein the preset moving area is a polygonal area determined by taking a plurality of ultra-wideband positioning devices as each vertex;
if the preset moving region is detected to be convex, determining each triangular region obtained by connecting the current position point with each adjacent vertex of the preset moving region, and calculating the sum of the areas of the triangular regions;
if the sum of the areas of the triangular areas is not equal to the area of the preset moving area, determining that the current position point is outside the preset moving area;
if the preset moving area is detected to be in a concave edge shape, dividing the preset moving area according to a preset rule to obtain a first moving area and a second moving area, wherein the shape of the first moving area and the shape of the second moving area are both convex edges;
determining each triangular area obtained by connecting the current position point with each adjacent vertex of the first moving area, and judging whether the current position point is outside the first moving area according to the sum of the areas of each triangular area of the first moving area;
if the current position point is judged to be in the first moving area, determining that the current position point is in the preset moving area;
if the current position point is judged to be outside the first moving area, determining each triangular area obtained by connecting the current position point and each adjacent vertex of the second moving area, and detecting whether the current position point is outside the second moving area according to the sum of the areas of each triangular area of the second moving area;
if the current position point is detected to be outside the second moving area, determining that the current position point is outside the preset moving area;
and if the current position point is determined to be outside the preset moving area, the robot is prohibited from moving and an alarm is given.
2. The method according to claim 1, wherein the dividing the preset moving area according to a preset rule to obtain a first moving area and a second moving area comprises:
establishing a plane rectangular coordinate system of the preset moving area by taking any position point in the preset moving area as an origin;
determining coordinate information of each vertex in the preset moving area in the plane rectangular coordinate system;
determining edge vectors of all edges of the concave edge corresponding to the preset moving area according to coordinate information of all vertexes in the plane rectangular coordinate system;
and dividing the preset moving area according to the edge vector of each edge to obtain the first moving area and the second moving area.
3. The method of claim 1, wherein the determining whether the current location point is outside the first moving region comprises:
detecting whether the sum of the current position point and the area of each triangular area of the first moving area is equal to the area of the first moving area;
determining that the current location point is outside the first moving region if it is detected that the sum of the areas of the triangular regions of the first moving region is not equal to the area of the first moving region;
the detecting whether the current location point is outside the second moving region includes:
detecting whether the sum of the current position point and the area of each triangular area of the second moving area is equal to the area of the second moving area;
and if the sum of the areas of the triangular areas of the second moving area is not equal to the area of the second moving area, determining that the current position point is outside the second moving area.
4. The method of claim 1, wherein if it is determined that the current position is outside the preset movement area, prohibiting the robot from stopping moving and alarming comprises:
if the current position is determined to be outside the preset moving area, prohibiting the robot from stopping moving;
and sending a control instruction to terminal equipment which establishes communication connection with the robot, wherein the control instruction is used for indicating an alarm device on the terminal equipment to alarm.
5. A positioning detection device, characterized by comprising means for performing the method of any of claims 1-4.
6. A positioning detection device comprising a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory being interconnected, wherein the memory is configured to store a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of any of claims 1-4.
7. A computer-readable storage medium, characterized in that the computer storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method according to any of claims 1-4.
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| CN201810852269.0A CN109238282B (en) | 2018-07-26 | 2018-07-26 | Robot positioning detection method and device and computer readable medium |
| PCT/CN2018/108676 WO2020019512A1 (en) | 2018-07-26 | 2018-09-29 | Robot positioning detection method and apparatus and computer readable storage medium |
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| CN112092016A (en) * | 2020-07-11 | 2020-12-18 | 广东翼景信息科技有限公司 | Multi-source data joint diagnosis method for inspection robot of intelligent substation |
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| CN102982562A (en) * | 2012-10-19 | 2013-03-20 | 浙江中正智能科技有限公司 | Method for judging whether target point is positioned inside polygon area |
| CN103700154B (en) * | 2013-12-27 | 2016-01-20 | 付诚 | Based on special article location monitoring and managing method and the system of the Big Dipper |
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| CN105590333A (en) * | 2015-11-28 | 2016-05-18 | 中国石油大学(华东) | Method for determination of point-surface topological relation on the basis of delta-shaped region equation |
| CN107195152A (en) * | 2016-03-15 | 2017-09-22 | 苏州宝时得电动工具有限公司 | Intelligent anti-theft device, intelligent anti-theft system and intelligent antitheft method |
| CN105783810B (en) * | 2016-04-15 | 2018-06-15 | 昆山数字城市信息技术有限公司 | Engineering earthwork measuring method based on unmanned plane camera work |
| CN107071721B (en) * | 2016-12-31 | 2020-06-05 | 景致惠通工程咨询（武汉）有限公司 | Stopover point extraction method based on mobile phone positioning data |
| CN107861513A (en) * | 2017-12-08 | 2018-03-30 | 深圳市中舟智能科技有限公司 | Intelligent robot autonomous navigation system based on UWB technology |
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