CN109375626A - Alignment code is sticked method, apparatus, computer equipment and storage medium - Google Patents

Alignment code is sticked method, apparatus, computer equipment and storage medium Download PDF

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Publication number
CN109375626A
CN109375626A CN201811385040.7A CN201811385040A CN109375626A CN 109375626 A CN109375626 A CN 109375626A CN 201811385040 A CN201811385040 A CN 201811385040A CN 109375626 A CN109375626 A CN 109375626A
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Prior art keywords
code
alignment code
pose
alignment
robot
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CN201811385040.7A
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CN109375626B (en
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房冰
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Hajou Creative Technology Ltd Shenzhen
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Hajou Creative Technology Ltd Shenzhen
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Priority to CN202110679624.0A priority Critical patent/CN113409401A/en
Priority to CN201811385040.7A priority patent/CN109375626B/en
Publication of CN109375626A publication Critical patent/CN109375626A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Abstract

It is sticked method this application involves a kind of alignment code, it include: to march at the grid node of light grid, determine the direction that light is received at grid node, robot is adjusted to preset posture according to the direction of light, whenever adjusting robot to preset posture at grid node, be sticked alignment code at current grid node.The application further relates to another alignment code and is sticked method, it include: the search alignment code from origin reference location code, according to the first prediction pose for determining robot to the path of searched alignment code from origin reference location code, and the second prediction pose of the alignment code is determined according to the relativeness and the first prediction pose of searched alignment code and robot, the second prediction pose that searched alignment code is corrected according to origin reference location code, is sticked for the alignment code having differences between standard pose represented by revised second prediction pose and corresponding alignment code according to standard pose again.It can be improved the pose accuracy rate of alignment code using the scheme of the application.

Description

Alignment code is sticked method, apparatus, computer equipment and storage medium
Technical field
This application involves mobile robot technology field, it is sticked method, apparatus, computer more particularly to a kind of alignment code Equipment and storage medium.
Background technique
With the development of mobile robot technology, occur advancing and determining position by Robot Scanning alignment code, Location navigation is carried out, the carrying of cargo is completed.Alignment code is that one kind is used for mobile robot in the process of walking, assists moving machine The identification code that device people carries out positioning and direction of travel determines.
It since traditional warehouse navigates, requires to carry out remaking surface in advance, disposes alignment code on ground.This mode needs A large amount of work is manually done in early period, and pastes alignment code by manually, it is difficult to accomplish very precisely, to lead to alignment code Pose accuracy rate is low.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of alignment code and be sticked method, apparatus, computer equipment And storage medium.
A kind of alignment code is sticked method, is applied to robot, which comprises
It marches at the grid node of light grid；
Determine the direction of the light received at grid node, light belongs to light grid；
According to the direction of light, robot is adjusted to preset posture；
Whenever adjusting robot to preset posture at grid node, be sticked alignment code at current grid node.
In one of the embodiments, the method also includes:
The search alignment code from origin reference location code；
, to the path of searched alignment code, the first prediction pose of robot is determined according to from origin reference location code；
Positioning is searched according to the relativeness and the first prediction pose determination of searched alignment code and robot Second prediction pose of code；
The second prediction pose of searched alignment code is corrected according to origin reference location code；
For the positioning being had differences between standard pose represented by revised second prediction pose and corresponding alignment code Code, is sticked again according to standard pose.
The second prediction pose packet of searched alignment code is corrected according to origin reference location code in one of the embodiments, It includes:
It is returned at origin reference location code when by search, determines the attained pose and the second prediction bits currently of origin reference location code Deviation between appearance, when deviation is more than the first preset range, then
According to the second of current the searched alignment code of drift correction the prediction pose, and continue to execute from origin reference location code The step of playing search alignment code, until stopping search when deviation is in the first preset range.
In one of the embodiments, the method also includes:
Obtain canonical path information, canonical path information carry alignment code in respective routes standard setting code information and Standard location information；
It advances according to the alignment code being sticked；
When advancing to the standard for not collecting corresponding alignment code from position at position represented by standard location information and When alignment code information, the alignment code error message for reporting is generated.
In one of the embodiments, when advancing at position represented by standard location information and do not adopted from position When collecting the standard setting code information of corresponding alignment code, generating the alignment code error message for reporting includes:
When the alignment code information for the alignment code for advancing at position represented by standard location information and being acquired at position When corresponding with standard location information standard setting code information is inconsistent, the first error message of alignment code for reporting is generated； Alternatively,
When advancing to the positioning for not collecting any alignment code at position represented by standard location information and at position When code information, the second error message of alignment code for reporting is generated.
In one of the embodiments, the method also includes:
When the alignment code error message reported corresponding to identical alignment code reaches preset times, obtains alignment code replacement and refers to It enables；
The alignment code on corresponding position is replaced according to replacement instruction, and the alignment code after replacement is for indicating standard Alignment code information.
Carrying out replacement to the alignment code on corresponding position according to replacement instruction in one of the embodiments, includes:
It is instructed according to replacement and obtains random position code；
Replacing the alignment code on the corresponding position is random position code；
The random position code information of random position code is sent to server, random position code information is used to indicate server Establish the mapping of random position code information to standard setting code information.
A kind of alignment code is sticked device, and described device includes:
Traveling module marches at the grid node of light grid for controlling robot；
Determine direction module, for determining the direction of the light received at grid node, light belongs to light grid；
Module is adjusted, for the direction according to light, adjusts robot to preset posture；
Be sticked module, is used for whenever adjusting robot to preset posture at grid node, in current grid node Place is sticked alignment code.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage Computer program, the processor perform the steps of when executing the computer program
It marches at the grid node of light grid；
Determine the direction of the light received at grid node, light belongs to light grid；
According to the direction of light, robot is adjusted to preset posture；
Whenever adjusting robot to preset posture at grid node, be sticked alignment code at current grid node.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor It is performed the steps of when row
It marches at the grid node of light grid；
Determine the direction of the light received at grid node, light belongs to light grid；
According to the direction of light, robot is adjusted to preset posture；
Whenever adjusting robot to preset posture at grid node, be sticked alignment code at current grid node.
Above-mentioned alignment code is sticked method, apparatus, computer equipment and storage medium, and light grid is utilized to realize robot Precise positioning, and using the posture of the radiation direction of light grid adjustment robot, so that robot is at grid node and place Being sticked for alignment code is carried out when preset posture, more accurate, efficient compared to being manually sticked, the pose for improving alignment code is accurate Rate.
A kind of alignment code is sticked method, is applied to robot, which comprises
The search alignment code from origin reference location code；
, to the path of searched alignment code, the first prediction pose of robot is determined according to from origin reference location code；
Positioning is searched according to the relativeness and the first prediction pose determination of searched alignment code and robot Second prediction pose of code；
The second prediction pose of searched alignment code is corrected according to origin reference location code；
For the positioning being had differences between standard pose represented by revised second prediction pose and corresponding alignment code Code, is sticked again according to standard pose.
The second prediction pose packet of searched alignment code is corrected according to origin reference location code in one of the embodiments, It includes:
It is returned at origin reference location code when by search, determines the attained pose and the second prediction bits currently of origin reference location code Deviation between appearance, when deviation is more than the first preset range, then
According to the second of current the searched alignment code of drift correction the prediction pose, and continue to execute from origin reference location code The step of playing search alignment code, until stopping search when deviation is in the first preset range.
A kind of alignment code is sticked device, and described device includes:
Search module, for the search alignment code from origin reference location code；
The first pose module is determined, for determining machine according to from origin reference location code to the path of searched alignment code The first prediction pose of people；
The second pose module is determined, according to the relativeness and the first prediction pose of searched alignment code and robot Determine the second prediction pose of searched alignment code；
Correction module, for correcting the second prediction pose of searched alignment code according to origin reference location code；
Re-posted module, for for being deposited between standard pose represented by revised second prediction pose and corresponding alignment code In the alignment code of difference, it is sticked again according to standard pose.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage Computer program, the processor perform the steps of when executing the computer program
The search alignment code from origin reference location code；
, to the path of searched alignment code, the first prediction pose of robot is determined according to from origin reference location code；
Positioning is searched according to the relativeness and the first prediction pose determination of searched alignment code and robot Second prediction pose of code；
The second prediction pose of searched alignment code is corrected according to origin reference location code；
For the positioning being had differences between standard pose represented by revised second prediction pose and corresponding alignment code Code, is sticked again according to standard pose.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor It is performed the steps of when row
The search alignment code from origin reference location code；
, to the path of searched alignment code, the first prediction pose of robot is determined according to from origin reference location code；
Positioning is searched according to the relativeness and the first prediction pose determination of searched alignment code and robot Second prediction pose of code；
The second prediction pose of searched alignment code is corrected according to origin reference location code；
For the positioning being had differences between standard pose represented by revised second prediction pose and corresponding alignment code Code, is sticked again according to standard pose.
Above-mentioned alignment code is sticked method, apparatus, computer equipment and storage medium, on the basis of origin reference location code, amendment Second prediction pose of searched alignment code, to mark represented by revised second prediction pose and searched alignment code Discrepant alignment code is sticked again between level appearance, so that the alignment code of pose inaccuracy is reached accurate pose, is improved The pose accuracy rate of alignment code.
Detailed description of the invention
Fig. 1 is that alignment code is sticked the applied environment figure of method in one embodiment；
Fig. 2 is that alignment code is sticked the flow diagram of method in one embodiment；
Fig. 3 is the flow diagram for carrying out re-posted in one embodiment to the alignment code of pose mistake；
Fig. 4 is the step of detecting alignment code mistake in one embodiment and generate the alignment code error message for reporting Flow diagram；
Fig. 5 is the flow diagram replaced in one embodiment to error locating code；
Fig. 6 is that alignment code is sticked the structural block diagram of device in one embodiment；
Fig. 7 is that alignment code is sticked the structural block diagram of device in another embodiment；
Fig. 8 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not For limiting the application.
Alignment code provided by the present application is sticked method, can be applied in application environment as shown in Figure 1.Wherein, light Transmitter 104 controls robot 102 by light, and robot 102 can be led to by network and server 106 by network Letter.Specifically, light emitters 104, which emit the light receiver 108 that light to robot 102 is equipped with, controls 102 row of robot It proceeds at the grid node of light grid, robot 102 determines what the light emitters 104 received at grid node emitted The direction of light, the light receiver 108 of robot 102 adjust the posture of robot 102 to default appearance according to the direction of light After state, robot 102 starts to be sticked alignment code on ground.Alignment code is a kind of identification code for carrying location information, be can be used for The positioning and direction of travel determination of mobile robot in the process of walking；Identification code can be bar code, two dimensional code, RFID tag Deng.Robot 102 advances according to the alignment code being sticked, and using canonical path information as standard, advances to normal bit in robot 102 When not collecting at the represented position of confidence breath and from position the standard setting code information of corresponding alignment code, robot 102 Alignment code error message for reporting is generated to server 106.Wherein, grid node can indicate by two or more Crosspoint made of ray intersection, light emitters can be laser emitter, and the light launched can be laser.
When the alignment code error message reported corresponding to identical alignment code reaches preset times, server 106 can be notified Robot 102 obtains alignment code replacement instruction by robot 102；The alignment code on corresponding position is carried out according to replacement instruction Replacement.When replacing the alignment code of error message corresponding position with random position code, robot 102 will be random for robot 102 The random position code information of alignment code is sent to server 106, and random position code information is used to indicate server 106 and establishes at random Mapping of the alignment code information to standard setting code information.It is understood that server 106 can also notify staff or its His robot, replaces alignment code by staff or other robot.Wherein, server 106 can use independent clothes The server cluster of business device either multiple servers composition is realized.
In one embodiment, it is sticked method as shown in Fig. 2, providing a kind of alignment code, is applied in Fig. 1 in this way Robot for be illustrated, method includes the following steps:
Step 202, it marches at the grid node of light grid.
Specifically, light receiver can be respectively set at the position of robot difference direction, is connect using each light receiver The light for forming light grid received navigates, to march at the grid node of light grid.
The light receiver being arranged in robot can be multiple.Marching at grid node specifically can be along composition The direction of the light of light grid marches at grid node, is also possible to march to grid section according to the path pre-set At point, such as successively march to along helical path at each grid node of light grid.The light of composition light grid can be located In same horizontal plane.Grid node can be by being formed along the light of orthogonal two axial directions, the light in each axial direction It can be unidirectional emission or two-way to penetrating.
Step 204, the direction of the light received at grid node is determined, which belongs to light grid.
Specifically, robot when marching at certain grid node, determined at the grid node it is currently received, Belong to the light of light grid, and determines the relative deviation direction of the light and robot current pose.Robot is in grid section The light for belonging to cable grid received at point can be two rules or two rules or more.
Step 206, according to the direction of light, robot is adjusted to preset posture.
Specifically, the relative deviation direction of the light and robot current pose received according to light receiver, adjustment The posture of robot.When the posture of robot is adjusted to preset posture, stop adjustment.
In one embodiment, the light receiver in robot can along the center symmetric setting of robot, robot By symmetrically arranged light receiver receive light, thus according to symmetrically arranged light receiver received light side Always the posture of robot is adjusted.The light received by the symmetrically arranged light receiver in mutually perpendicular two axial directions When being overlapped respectively with the straight line where respective shaft upwards symmetrically arranged light receiver, it can determine that robot is adjusted to default appearance State.Light received by symmetrically arranged light receiver is the light in orthogonal different two axial directions.
Step 208, whenever adjusting the robot to preset posture at the grid node, in the current net Be sticked alignment code at lattice node.
Specifically, robot is at grid node, and reach pre- according to the posture of the light adjustment robot received If after posture, robot is sticked alignment code according to preset posture at grid node.Wherein, alignment code can be, but not limited to be two Code, bar code etc. are tieed up, and the color and shape of alignment code can be arbitrary.
Above-mentioned alignment code is sticked method, the precise positioning of robot is realized using light grid, and utilize light grid Radiation direction adjusts the posture of robot, so that robot carries out the patch of alignment code at grid node and when being in preset posture If more accurate, efficient compared to being manually sticked, the pose accuracy rate of alignment code is improved.
As shown in figure 3, in one embodiment, the above-mentioned alignment code method of being sticked further include to the alignment code of pose mistake into The step of row re-posted, the step specifically includes the following steps:
Step 302, the search alignment code from origin reference location code.
Specifically, robot using origin reference location code as starting point, can search at random or according to preset path on the ground Alignment code.Wherein, the attained pose of origin reference location code is in an absolutely accurate pose, and robot is with the reality of origin reference location code On the basis of the pose of border, start in surface detection alignment code.Wherein, the pose of alignment code includes position and/or the posture of alignment code. Preset path can be spiral path or serpentine path.
Step 304, to the path of searched alignment code, the first prediction bits of robot are determined according to from origin reference location code Appearance.
Wherein, the first prediction pose is the position for the robot that the path based on origin reference location code and robot is extrapolated Appearance.
Specifically, when searching the alignment code on ground, row when according to from origin reference location code to searched alignment code Into path, come determine robot first prediction pose.
Step 306, it is searched according to the relativeness and the first prediction pose, determination of searched alignment code and robot Rope predicts pose to the second of alignment code.
Wherein, the second prediction pose is the first alignment code and machine predicting pose and being searched based on robot The pose for the alignment code searched that the relativeness of people is extrapolated.
Specifically, determining that the opposite of searched alignment code and robot itself is closed according to the camera that robot is equipped with System, and then determine that the second of searched alignment code predicts pose according to the relativeness and the first prediction pose.
Further, the center for the camera that robot can take robot to be equipped with is origin, and determination is searched The relative position deviation of the center for the camera that the position of the pixel at alignment code center and robot are equipped with is opposite with this Position deviation indicates to search the relativeness of alignment code and robot, and then deviation and first prediction depending on the relative position Pose determines the second prediction pose of searched alignment code.
For example: assuming that the length of relative position deviation is 3 pixels, it can be according to pixel in current scene Conversion scale, the length being converted into reality scene, thus according to the direction of length and relative position deviation after conversion and knot The first prediction pose is closed, it is final to determine the second prediction pose.
Step 308, the second prediction pose of searched alignment code is corrected according to origin reference location code.
Specifically, origin reference location code is the alignment code of pose absolute standard, robot can be based on the mark of the origin reference location code Level appearance predicts pose to correct the second of searched alignment code.It is understood that robot can be directly according to benchmark Drift correction second between the attained pose of alignment code and the second current prediction pose predicts pose, can also be fixed according to benchmark Drift correction first between the attained pose of position code and the second current prediction pose predicts pose to correct corresponding the indirectly Two prediction poses.Origin reference location code in the present embodiment can be it is multiple, origin reference location code is more, the of revised alignment code The accuracy rate of two prediction poses is higher.
In one embodiment, robot can repeatedly pass through origin reference location code, to being searched whenever by origin reference location code Second prediction pose of rope to alignment code is modified, and stops amendment when meeting stop condition.Stop condition can be through Cross origin reference location synchronous codes number and reach preset times, be also possible to it is adjacent twice by origin reference location code when, determining base respectively Deviation between first prediction pose of quasi- alignment code is less than predetermined deviation.
Step 310, poor for existing between standard pose represented by revised second prediction pose and corresponding alignment code Different alignment code is sticked again according to standard pose.
Specifically, revised second is predicted after being modified to the second prediction pose of the alignment code searched Pose is compared with standard pose represented by corresponding searched alignment code, and obtaining comparison result is determining of having differences Position code, then be sticked again to the alignment code according to the standard pose of the alignment code.Wherein, standard pose refers to by scanning institute The standard pose that the alignment code searched obtains, the standard pose are the standard poses of scanned alignment code.It is understood that It is that alignment code information in the alignment code searched carries corresponding standard pose.
It in one embodiment, can be that the alignment code having differences is uploaded onto the server by comparison result, instruction service Device sends re-posted and requests to other robot, and other robot is requested according to re-posted, is determining of having differences for comparison result Position code, is sticked again to the alignment code according to the standard pose of the alignment code.
In above-described embodiment, on the basis of origin reference location code, correct searched alignment code second predicts pose, to repairing Discrepant alignment code is pasted again between standard pose represented by the second prediction pose after just and searched alignment code If the alignment code of pose inaccuracy is made to reach accurate pose, the pose accuracy rate of alignment code is further improved.
In one embodiment, it includes following for correcting the second prediction pose of searched alignment code according to origin reference location code Step: returning at origin reference location code when by search, and between current the second prediction pose and the attained pose of origin reference location code Deviation be more than the first preset range when, then according to the second of current the searched alignment code of drift correction predict pose, and The step of alignment code is searched for from origin reference location code is continued to execute, until stopping searching when the deviation is in the first preset range Rope.
Wherein, the first preset range can be specific value or numberical range.The present embodiment is pre- by presetting first If range, returned at origin reference location code when by search, and the attained pose of the second current prediction pose and origin reference location code Between deviation when be more than this preset range, illustrate that the judgement of the second predicted position of the alignment code searched is wrong Accidentally, so returning to the search alignment code from origin reference location code after being modified according to this deviation to the second predicted position The step of.Deviation category between the second prediction pose and attained pose current when being returned at origin reference location code by search It when the first preset range, stops search, makes to check that the result of the discrepant alignment code of pose is more accurate, be subsequent to pose The step of discrepant alignment code is sticked again provides more accurate basis.
As shown in figure 4, in one embodiment, the above-mentioned alignment code method of being sticked further includes detection alignment code mistake and generates The step of alignment code error message for reporting, the step specifically includes the following steps:
Step 402, canonical path information is obtained, canonical path information carries the standard setting of alignment code in respective routes Code information and standard location information.
Wherein, it is in advance the information of the canonical path of robot planning that canonical path information, which is description,.Canonical path information Carry standard setting code information and standard location information.Alignment code information refers to the information that can be obtained by Scan orientation code, The alignment code for identification, the standard setting code information table in the present embodiment show that the alignment code that canonical path is passed through should include Alignment code information.The location parameter of location information specific bit code, such as the coordinate information of alignment code, the standard in the present embodiment Location information indicate corresponding alignment code on canonical path should where position.Canonical path information can be stored in advance in It, can also be by robot from server pull in robot.
Step 404, it advances according to the alignment code being sticked.
Specifically, alignment code and parsing of the robot by scanning ground, obtain alignment code information contained by alignment code, it should Alignment code information includes robot traveling instruction information, and robot then advances according to the robot and indicates that information is advanced.Traveling refers to Show that information can only include the directional information for being used to indicate robot direction of travel, can also include being used to indicate robot location Location information.
Step 406, when advancing at position represented by standard location information and not collecting corresponding positioning from position When the standard setting code information of code, the alignment code error message for reporting is generated.
Specifically, when robot is advanced at position represented by standard location information by scanning the alignment code of ground When, the standard setting code information of corresponding alignment code is not collected from position, then generates the alignment code error message for reporting. Alignment code error message is uploaded to server by robot, and other robot can get alignment code mistake letter by server Breath.
It is understood that alignment code error message is reported to server by robot, it can be in each discovery when traveling When not collecting at position represented by standard location information and from position the standard setting code information of corresponding alignment code, It directly reports alignment code error message to server, can also uniformly report each position after covering a whole route Alignment code error message is to server.
In one embodiment, when advancing at position represented by standard location information and what is acquired at position determines When the alignment code information standard setting code information corresponding with standard location information of position code is inconsistent, route mistake is represented, is generated The first error message of alignment code for reporting；Or since alignment code is exposed for a long time, cause alignment code smudgy, when Robot advances to the alignment code letter for not collecting any alignment code at position represented by standard location information and at position When breath, the second error message of alignment code for reporting is generated.
In above-described embodiment, is advanced by scanning the alignment code that ground is sticked, check position by standard of canonical path information The alignment code for setting mistake or information fuzzy, makes other robot or staff timely go and find out what's going on and is modified to it, It prevents from influencing the operation of other robot due to alignment code positional fault or information fuzzy.
In one embodiment, above-mentioned alignment code is sticked method further include: when the positioning for corresponding to identical alignment code and reporting When code error message reaches preset times, alignment code replacement instruction is obtained, according to replacement instruction to the alignment code on corresponding position It is replaced, and the alignment code after replacement is for indicating standard setting code information.
In the present embodiment, when being replaced according to replacement instruction to the alignment code on position, it can be replaced with true form, it can also To be replaced with random code, by with random position code replacement for, as shown in fig. 5, it is assumed that robot cover a whole route it Afterwards, the alignment code error message of each position is uniformly reported, then specific step is as follows:
Step 502, canonical path information is obtained, canonical path information carries the standard setting of alignment code in respective routes Code information and standard location information.
Step 504, it advances according to the alignment code that ground is sticked.
Step 506, it has advanced after a whole route, has been judged on each positioning code position according to canonical path information Whether scanning is to corresponding alignment code.
Specifically, finding standard road after robot covers a whole route according to the alignment code that scanning is sticked on the ground Each alignment code in line information is scanned, then it is errorless to represent alignment code, terminates this detection.When robot according to After the alignment code that scanning is sticked on the ground covers a whole route, when discovery has the alignment code for detecting alignment code mistake, enter Step 508.
Step 508, report alignment code error message to server.
Specifically, robot handle detects that vicious alignment code uniformly reports to server, so that other robot can To get error message by server.
Step 510, when the alignment code error message reported corresponding to identical alignment code reaches preset times, positioning is obtained Code replacement instruction.
Step 512, the alignment code on error message corresponding position is replaced with true form according to replacement instruction.
Step 514, the alignment code on error message corresponding position is replaced with random position code according to replacement instruction.
The present embodiment is corresponding to error message fixed by when the error message of the same alignment code reaches preset quantity Position code is replaced, and not only be ensure that the accuracy of alignment code error message, is prevented due to alignment code positional fault or letter Cease the operation of Fuzzy Influence other robot.
In one embodiment, the alignment code on error message corresponding position is replaced with random position code, then root The alignment code on position is replaced according to replacement instruction the following steps are included: being instructed according to replacement and obtain random position code, more Alignment code at change place is random position code, and the random position code information of random position code is sent to server, random fixed Position code information is used to indicate server and establishes the mapping of random position code information to standard setting code information.
The present embodiment keeps the mode for replacing alignment code more convenient, and pass through by replacing true form with random position code The random position code information of random position code is sent to server, server establishes random position code information to standard setting code The mode of the mapping of information can find standard setting code information according to random code, prevent from causing standard fixed because of random position code Position code information is lost.
It should be understood that although each step in the flow chart of Fig. 1-5 is successively shown according to the instruction of arrow, These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 1-5 Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately It executes.
In one embodiment, it is sticked device 600 as shown in fig. 6, providing a kind of alignment code, which includes row Progressive die block 602 determines direction module 604, adjustment module 606 and the module 608 that is sticked, in which:
Traveling module 602 marches at the grid node of light grid for controlling robot.
Determine direction module 604, for determining the direction of the light received at grid node, light belongs to reticule Lattice.
Module 606 is adjusted, for the direction according to light, adjusts robot to preset posture.
The module that is sticked 608 is used for whenever adjusting the robot to preset posture at grid node, in current institute State the alignment code that is sticked at grid node.
In one embodiment, above-mentioned apparatus further include: search module determines the first pose module, determines the second pose Module correction module and re-posted module.Search module, for the search alignment code from origin reference location code；Determine the first pose mould Block, for, to the path of searched alignment code, determining corresponding first prediction pose according to from origin reference location code；Determine second Pose module, for being searched according to the relativeness of searched alignment code and robot and the first prediction pose determination Second prediction pose of alignment code；Correction module, for correcting the second prediction of searched alignment code according to origin reference location code Pose；Re-posted module, for for existing between standard pose represented by revised second prediction pose and corresponding alignment code The alignment code of difference is sticked again according to standard pose.
In one embodiment, correction module is also used to return at origin reference location code when by search, determines origin reference location Deviation between the attained pose of code and the second current prediction pose, when deviation is more than the first preset range, then according to current The searched alignment code of drift correction second prediction pose, and continue to execute from origin reference location code search for alignment code step Suddenly, until stopping search when deviation is in the first preset range.
In one embodiment, above-mentioned apparatus further include: canonical path obtains module, scan module and reports wrong mould Block.Canonical path obtains module, and for obtaining canonical path information, canonical path information carries alignment code in respective routes Standard setting code information and standard location information；Scan module, for advancing according to the alignment code being sticked；Error module is reported, The standard setting for not collecting corresponding alignment code from position at position represented by standard location information and is advanced to for working as When code information, the alignment code error message for reporting is generated.
In one embodiment, report error module to be also used to advance at position represented by standard location information, And when the alignment code information standard setting code information corresponding with standard location information of the alignment code of acquisition is inconsistent at position, Generate the first error message of alignment code for reporting；Or when advance at position represented by standard location information and When not collecting the alignment code information of any alignment code at position, the second error message of alignment code for reporting is generated.
In one embodiment, above-mentioned apparatus further include: replacement instruction acquisition module and replacement module.Replacement instruction obtains Module, for obtaining alignment code replacement when the alignment code error message reported corresponding to identical alignment code reaches preset times Instruction；Module is replaced, for replacing according to replacement instruction to the alignment code on corresponding position, and the alignment code after replacement is used In expression standard setting code information.
In one embodiment, replacement module, which is also used to be instructed according to replacement, obtains random position code, replaces corresponding position On alignment code be random position code, the random position code information of random position code is sent to server, random position code letter Breath is used to indicate server and establishes the mapping of random position code information to standard setting code information.
It is sticked the specific limit for limiting the method that may refer to be sticked above for alignment code of device about above-mentioned alignment code Fixed, details are not described herein.Above-mentioned alignment code is sticked the modules in device can be fully or partially through software, hardware and its group It closes to realize.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with Software form is stored in the memory in computer equipment, executes the corresponding behaviour of the above modules in order to which processor calls Make.
In one embodiment, it as shown in figure 3, additionally providing the method that is sticked of another alignment code, applies in this way It is illustrated for robot in Fig. 1, comprising the following steps:
Step 302, the search alignment code from origin reference location code.
Specifically, positioning using origin reference location code as starting point, is searched at random or according to preset path on the ground by robot Code.Wherein, the attained pose of origin reference location code is in an absolutely accurate pose, and robot is with the actual bit of origin reference location code On the basis of appearance, start in surface detection alignment code.Wherein, the pose of alignment code includes position and/or the posture of alignment code.It is default Path can be spiral path or serpentine path.
Step 304, to the path of searched alignment code, the first prediction bits of robot are determined according to from origin reference location code Appearance.
Wherein, the first prediction pose is the position for the robot that the path based on origin reference location code and robot is extrapolated Appearance.
Specifically, when searching the alignment code on ground, row when according to from origin reference location code to searched alignment code Into path, come determine robot first prediction pose.
Step 306, it is searched according to the relativeness and the first prediction pose, determination of searched alignment code and robot Rope predicts pose to the second of alignment code.
Wherein, the second prediction pose is the first alignment code and machine predicting pose and being searched based on robot The pose for the alignment code searched that the relativeness of people is extrapolated.
Specifically, determining that the opposite of searched alignment code and robot itself is closed according to the camera that robot is equipped with System, and then determine that the second of searched alignment code predicts pose according to the relativeness and the first prediction pose.
Further, the center for the camera that robot can take robot to be equipped with is origin, and determination is searched The relative position deviation of the center for the camera that the position of the pixel at alignment code center and robot are equipped with is opposite with this Position deviation indicates to search the relativeness of alignment code and robot, and then deviation and first prediction depending on the relative position Pose determines the second prediction pose of searched alignment code.
For example: assuming that the length of relative position deviation is 3 pixels, it can be according to pixel in current scene Conversion scale, the length being converted into reality scene, thus according to the direction of length and relative position deviation after conversion and knot The first prediction pose is closed, it is final to determine the second prediction pose.
Step 308, the second prediction pose of searched alignment code is corrected according to origin reference location code.
Specifically, origin reference location code is the alignment code of pose absolute standard, robot can be based on the mark of the origin reference location code Level appearance predicts pose to correct the second of searched alignment code.It is understood that robot can be directly according to benchmark Drift correction second between the attained pose of alignment code and the second current prediction pose predicts pose, can also be fixed according to benchmark Drift correction first between the attained pose of position code and the second current prediction pose predicts pose to correct corresponding the indirectly Two prediction poses.
In one embodiment, robot can repeatedly pass through origin reference location code, to being searched whenever by origin reference location code Second prediction pose of rope to alignment code is modified, and stops amendment when meeting stop condition.Stop condition can be through It crosses origin reference location synchronous codes number and reaches preset times, be also possible to the adjacent origin reference location code determined twice by origin reference location code First prediction pose deviation be less than preset value.
Step 310, poor for existing between standard pose represented by revised second prediction pose and corresponding alignment code Different alignment code is sticked again according to standard pose.
Specifically, revised second is predicted after being modified to the second prediction pose of the alignment code searched Pose is compared with standard pose represented by corresponding searched alignment code, and obtaining comparison result is determining of having differences Position code, then be sticked again to the alignment code according to the standard pose of the alignment code.Wherein, standard pose refers to by scanning institute The standard pose that the alignment code searched obtains, the standard pose are the standard poses of scanned alignment code.It is understood that It is that alignment code information in the alignment code searched carries corresponding standard pose.
In one embodiment, the alignment code that comparison result can be had differences is uploaded onto the server, and indicates server It sends re-posted to request to other robot, other robot is requested according to re-posted, is the positioning having differences for comparison result Code, is sticked again to the alignment code according to the standard pose of the alignment code.
In above-described embodiment, on the basis of origin reference location code, correct searched alignment code second predicts pose, to repairing Discrepant alignment code is pasted again between standard pose represented by the second prediction pose after just and searched alignment code If the alignment code of pose inaccuracy is made to reach accurate pose, the pose accuracy rate of alignment code is further improved.
In one embodiment, it includes following for correcting the second prediction pose of searched alignment code according to origin reference location code Step: returning at origin reference location code when by search, and between current the second prediction pose and the attained pose of origin reference location code Deviation be more than the first preset range when, then according to the second of current the searched alignment code of drift correction predict pose, and The step of alignment code is searched for from origin reference location code is continued to execute, until stopping searching when the deviation is in the first preset range Rope.
Wherein, the first preset range can be specific value or numberical range.The present embodiment is pre- by presetting first If range, returned at origin reference location code when by search, and the attained pose of the second current prediction pose and origin reference location code Between deviation when be more than this preset range, illustrate that the judgement of the second predicted position of the alignment code searched is wrong Accidentally, so returning to the search alignment code from origin reference location code after being modified according to this deviation to the second predicted position The step of.Deviation category between the second prediction pose and attained pose current when being returned at origin reference location code by search It when the first preset range, stops search, makes to check that the result of the discrepant alignment code of pose is more accurate, be subsequent to pose The step of discrepant alignment code is sticked again provides more accurate basis.
In one embodiment, it is sticked device 700 as shown in fig. 7, providing another alignment code, the device 700 packet Include: search module 702 determines pose module 704, correction module 706 and re-posted module 708, in which:
Search module 702, for the search alignment code from origin reference location code.
The first pose module 704 is determined, for determining phase according to from origin reference location code to the path of searched alignment code The the first prediction pose answered,
The second pose module 706 is determined, according to the relativeness and the first prediction of searched alignment code and robot Pose determines the second prediction pose of searched alignment code；
Correction module 708, for correcting the second prediction pose of searched alignment code according to origin reference location code；
Re-posted module 710, for for standard pose represented by revised second prediction pose and corresponding alignment code Between the alignment code that has differences, be sticked again according to standard pose.
In one embodiment, correction module 708 is also used to return at origin reference location code when by search, determines the base Deviation between the attained pose of quasi- alignment code and the second current prediction pose, when deviation is more than the first preset range, then root Pose is predicted according to the second of current the searched alignment code of drift correction, and is continued to execute and searched for positioning from origin reference location code The step of code, until stopping search when deviation is in the first preset range.
It is sticked the specific limit for limiting the method that may refer to be sticked above for alignment code of device about above-mentioned alignment code Fixed, details are not described herein.Above-mentioned alignment code is sticked the modules in device can be fully or partially through software, hardware and its group It closes to realize.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with Software form is stored in the memory in computer equipment, executes the corresponding behaviour of the above modules in order to which processor calls Make.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure Figure can be as shown in Figure 8.The computer equipment includes processor, the memory, grid interface, display connected by system bus Screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment is deposited Reservoir includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer journey Sequence.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating The grid interface of machine equipment is used to pass through grid connection communication with external terminal.When the computer program is executed by processor with Realize that above-mentioned alignment code is sticked method.The display screen of the computer equipment can be liquid crystal display or electric ink is shown Screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible on computer equipment shell Key, trace ball or the Trackpad of setting can also be external keyboard, Trackpad or mouse etc..
In one embodiment, a kind of computer equipment, including memory and processor, memory are stored with computer journey Sequence realizes that the alignment code of any of the above-described embodiment is sticked method when computer program is executed by processor.
In one embodiment, a kind of computer readable storage medium is stored thereon with computer program, computer program Realize that the alignment code of any of the above-described embodiment is sticked method when being executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 8, only part relevant to application scheme is tied The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, To any reference of memory, storage, database or other media used in each embodiment provided herein, Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms, Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.

Claims (13)

  1. A kind of method 1. alignment code is sticked is applied to robot, which comprises
    It marches at the grid node of light grid；
    Determine the direction of the light received at the grid node, the light belongs to the light grid；
    According to the direction of the light, the robot is adjusted to preset posture；
    Whenever adjusting the robot to preset posture at the grid node, it is sticked at the current grid node Alignment code.
  2. 2. the method according to claim 1, wherein the method also includes:
    The search alignment code from origin reference location code；
    , to the path of searched alignment code, the first prediction pose of robot is determined according to from origin reference location code；
    It is searched according to searched alignment code and the relativeness of the robot and the first prediction pose determination Second prediction pose of alignment code；
    The second prediction pose of searched alignment code is corrected according to the origin reference location code；
    For the positioning being had differences between standard pose represented by the revised second prediction pose and corresponding alignment code Code, is sticked again according to the standard pose.
  3. 3. according to the method described in claim 2, it is characterized in that, described searched according to origin reference location code amendment is determined Described the second of position code predicts that pose includes:
    It is returned at the origin reference location code when by search, determines the attained pose and current second of the origin reference location code in advance Deviation between location appearance, when the deviation is more than the first preset range, then
    According to the second prediction pose of current the searched alignment code of drift correction, and continue to execute it is described fixed from benchmark Position code plays the step of search alignment code, until stopping search when the deviation is in first preset range.
  4. 4. method according to any one of claims 1 to 3, which is characterized in that the method also includes:
    Obtain canonical path information, the canonical path information carry alignment code in respective routes standard setting code information and Standard location information；
    It advances according to the alignment code being sticked；
    When advancing at position represented by the standard location information and not collecting corresponding alignment code from the position When the standard setting code information, the alignment code error message for reporting is generated.
  5. 5. according to the method described in claim 4, it is characterized in that, described ought advance to represented by the standard location information At position and when not collecting the standard setting code information of corresponding alignment code from the position, generate for reporting Alignment code error message includes:
    When the alignment code for the alignment code for advancing at position represented by the standard location information and being acquired at the position When information standard setting code information corresponding with the standard location information is inconsistent, the alignment code first generated for reporting is wrong False information；Alternatively,
    When advancing at position represented by the standard location information and not collecting any alignment code at the position When alignment code information, the second error message of alignment code for reporting is generated.
  6. 6. according to the method described in claim 4, it is characterized in that, the method also includes:
    When the alignment code error message reported corresponding to identical alignment code reaches preset times, alignment code replacement instruction is obtained；
    The alignment code on corresponding position is replaced according to replacement instruction, and the alignment code after replacement is for indicating described Standard setting code information.
  7. 7. according to the method described in claim 6, it is characterized in that, described determine according to replacement instruction on corresponding position Position code carries out replacement
    It is instructed according to the replacement and obtains random position code；
    Replacing the alignment code on the corresponding position is the random position code；
    The random position code information of the random position code is sent to server, the random position code information is used to indicate institute It states server and establishes the mapping of the random position code information to the standard setting code information.
  8. A kind of method 8. alignment code is sticked is applied to robot, which comprises
    The search alignment code from origin reference location code；
    , to the path of searched alignment code, the first prediction pose of robot is determined according to from origin reference location code；
    It is searched according to searched alignment code and the relativeness of the robot and the first prediction pose determination Second prediction pose of alignment code；
    The second prediction pose of searched alignment code is corrected according to the origin reference location code；
    For the positioning being had differences between standard pose represented by the revised second prediction pose and corresponding alignment code Code, is sticked again according to the standard pose.
  9. 9. according to the method described in claim 8, it is characterized in that, described searched according to origin reference location code amendment is determined Described the second of position code predicts that pose includes:
    It is returned at the origin reference location code when by search, determines the attained pose and current second of the origin reference location code in advance Deviation between location appearance, when the deviation is more than the first preset range, then
    According to the second prediction pose of current the searched alignment code of drift correction, and continue to execute it is described fixed from benchmark Position code plays the step of search alignment code, until stopping search when the deviation is in first preset range.
  10. The device 10. a kind of alignment code is sticked, described device include:
    Traveling module marches at the grid node of light grid for controlling robot；
    Determine direction module, for determining the direction of the light received at the grid node, the light belongs to described Light grid；
    It adjusts module and adjusts the robot to preset posture for the direction according to the light；
    Be sticked module, is used for whenever adjusting the robot to preset posture at the grid node, described in current Be sticked alignment code at grid node.
  11. The device 11. a kind of alignment code is sticked, described device include:
    Search module, for the search alignment code from origin reference location code；
    The first pose module is determined, for determining robot according to from origin reference location code to the path of searched alignment code First prediction pose；
    The second pose module is determined, according to the relativeness and first prediction of searched alignment code and the robot Pose determines the second prediction pose of searched alignment code；
    Correction module, for correcting the second prediction pose of searched alignment code according to the origin reference location code；
    Re-posted module, for for being deposited between standard pose represented by the revised second prediction pose and corresponding alignment code In the alignment code of difference, it is sticked again according to the standard pose.
  12. 12. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists In the computer program realizes any one of claims 1 to 9 the method when being executed by processor the step of.
  13. 13. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program The step of method described in any one of claims 1 to 9 is realized when being executed by processor.
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