CN109459048A - Map loading method and equipment for robot - Google Patents
Map loading method and equipment for robot Download PDFInfo
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- CN109459048A CN109459048A CN201910013580.0A CN201910013580A CN109459048A CN 109459048 A CN109459048 A CN 109459048A CN 201910013580 A CN201910013580 A CN 201910013580A CN 109459048 A CN109459048 A CN 109459048A
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The object of the present invention is to provide a kind of map loading methods and equipment for robot, the present invention passes through map when store-service robot each run, user can select a map in historical map or atlas on demand and be loaded into service robot, for robot localization and path planning later.Solve the strong dependence of service robot to map, so that the scope of application further expansion of service robot, for example can be realized the movement etc. between the service position migration of megastore, different floors.
Description
Technical field
The present invention relates to computer field more particularly to a kind of map loading methods and equipment for sweeping robot.
Background technique
In recent years with the development of artificial intelligence and robot technology, more and more service-delivery machines are emerged in the market
People, such as sweeper, automatic meal delivery robot, bank cashier machine people, mall shopping robot etc..In order to make robot
Service range is bigger, and numerous robots joined mobile platform technology, enables product autonomous and carries out map structuring
And navigation, realize the diversification and full Map Services of service scenarios.The building of to map is quickly grown, and figure is built in various synchronous positioning
Means be constantly suggested, so that our service robot is constructed good environmental map.But for robot,
Only construct a map and be not able to satisfy following scene demand: market environmental map is huge, switching, different user between different floors
Between share using sweeper etc..
Summary of the invention
It is an object of the present invention to provide a kind of map loading methods and equipment for robot.
According to an aspect of the invention, there is provided a kind of map loading method for robot, this method comprises:
The map of robot is stored in map data base, the map is the planar grid map of laser, described to swash
It include robot environmental information to be serviced in the planar grid map of light；
The robot obtains corresponding map from the map data base, and the robot obtains real time laser environment letter
Breath, the real time laser environmental information is matched with the map, to obtain the robot working as in the map
The positioning of front position；
Positioning of the robot based on the map and current location carries out service path planning.
It further, further include that virtual wall information and service are prohibited in the above method, in the planar grid map of the laser
Area's information.
Further, in the above method, the robot obtains corresponding map from the map data base, comprising:
When loading the triggering of map condition, the robot obtains corresponding map from the map data base.
Further, in the above method, the load map condition triggering includes at least one of following:
When the service starting of robot, triggering load map；
When the robot receives the instruction of load map, triggering load map；
When the real time laser environmental information and the map that has loaded are carried out that it fails to match by the robot, triggering
Load map.
Further, in the above method, positioning of the robot based on the map and current location carries out service road
After diameter planning, further includes:
The robot is planned based on the service path, is cleaned to the corresponding environment of the map.
Another side according to the present invention also provides a kind of equipment that the map for robot loads, wherein the equipment packet
It includes:
First device, for the map of robot to be stored in map data base, the map is the planar gate of laser
Lattice map includes robot environmental information to be serviced in the planar grid map of the laser；
Second device obtains real time laser environmental information, by institute for obtaining corresponding map from the map data base
It states real time laser environmental information to be matched with the map, to obtain current location of the robot in the map
Positioning；
3rd device carries out service path planning for the positioning based on the map and current location.
It further, further include that virtual wall information and service are prohibited in above equipment, in the planar grid map of the laser
Area's information.
Further, in above equipment, second device is used for when loading the triggering of map condition, from the map datum
Library obtains corresponding map.
Further, in above equipment, the load map condition triggering includes at least one of following:
When the service starting of robot, triggering load map；
When the robot receives the instruction of load map, triggering load map；
When the real time laser environmental information and the map that has loaded are carried out that it fails to match by the robot, triggering
Load map.
Further, in above equipment, the 3rd device is also used to plan based on the service path, to describedly
Scheme corresponding environment to be cleaned.
According to another aspect of the present invention, a kind of equipment based on calculating is additionally provided, wherein include:
Processor；And
It is arranged to the memory of storage computer executable instructions, the executable instruction makes the place when executed
Manage device:
The map of robot is stored in map data base, the map is the planar grid map of laser, described to swash
It include robot environmental information to be serviced in the planar grid map of light；
Corresponding map is obtained from the map data base, real time laser environmental information is obtained, by the real time laser ring
Border information is matched with the map, to obtain the positioning of current location of the robot in the map；
Positioning based on the map and current location carries out service path planning.
According to another aspect of the present invention, a kind of computer readable storage medium is additionally provided, computer is stored thereon with
Executable instruction, wherein the computer executable instructions make processor when being executed by processor:
The map of robot is stored in map data base, the map is the planar grid map of laser, described to swash
It include robot environmental information to be serviced in the planar grid map of light；
Corresponding map is obtained from the map data base, real time laser environmental information is obtained, by the real time laser ring
Border information is matched with the map, to obtain the positioning of current location of the robot in the map；
Positioning based on the map and current location carries out service path planning.
Compared with prior art, the map when present invention is by store-service robot each run, user can be on-demand
It selects a map in historical map or atlas to be loaded into service robot, for robot localization and path planning later.Solution
The strong dependence for service robot to map of having determined, so that the scope of application further expansion of service robot, for example can be realized
Movement etc. between the service position migration of megastore, different floor.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows the map building of one embodiment of the invention and the logic chart of load.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or
Any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, computer
Readable medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
The present invention provides a kind of map loading method for robot, comprising:
The map of robot is stored in map data base by step S1, and the map is the planar grid map of laser,
It include robot environmental information to be serviced in the planar grid map of the laser；
Step S2, the robot obtain corresponding map from the map data base, and the robot obtains to swash in real time
Luminous environment information matches the real time laser environmental information, with the map to obtain the robot describedly
The positioning of current location in figure；
Step S3, positioning of the robot based on the map and current location carry out service path planning.
Here, as shown in Figure 1, robot can constantly generate a map, after service, ground in progress respective service
Figure is stored in map data base after being extracted by map manager.As it can be seen that if robot is repeatedly servicing different rings
Multiple different maps can be generated in border, and generating map for the first time in different environments is disposably to operate, and later can
With by the load of historical map or atlas corresponding in map data base, realization has memory function to environment.When needing to load map,
Robot can load specified map, reducing environment information from the map data base, and laser is utilized in new map
The real time laser environmental information of sensor is positioned oneself, and path planning is carried out after having good positioning, and using the path planning right
It answers in environment and is serviced.The present invention provides a kind of new map loading method, and the robot that map can be made to have dependence has
There is historical map or atlas memory function, selection one that can be in due course when needing map to load opens historical map or atlas so as to sweeper,
It can be realized rapidly switching use environment, load suitable map while Robotic Dynamic can be helped and serviced.
The present invention passes through map when store-service robot each run, and user can select in historical map or atlas on demand
One map is loaded into service robot, for robot localization and path planning later.Solves service robot pair
The strong dependence of map, so that the scope of application further expansion of service robot, for example can be realized the service bit of megastore
Set the movement etc. between migration, different floors.
For example, sweeping robot borrows mutually between relative, then home environment has difference, without building figure every time
Virtual wall is drawn, as long as selecting load in historical map or atlas；
Also such as, market robot can switch between each floor；
For another example, by self reorientation and load map, cooperation sweeping robot that can be more intelligent carries out various fancy
It cleans, such as: you draw me and sweep, and region cleans, and fixed point cleans etc., are not afraid of robot and are shifted from one place to another.
Map data base can be stored by the memory of robot interior, be also possible to the cloud service with robot communication
Device storage, so that the fusion of multi rack structure can be realized.
The accuracy of map can be improved by using the planar grid map of laser in the present invention, and position error also has very big
It is promoted；In addition, raster symbol-base amount can be small, for embedded device operation time can it is short very much；In addition, planar grid map
The memory space needed is smaller, can record more historical maps or atlases at robot device end or cloud, transmit map when
Time can obviously save flow.
The present invention elaborates the historical map or atlas loading procedure of service robot for being applicable in sweeping robot, can also fit
Humanoid robot is serviced for all.
In one embodiment of map loading method for robot of the invention, in the planar grid map of the laser also
Including virtual wall information and service forbidden zone information.
Here, on this map in addition user can be as shown in Figure 1, robot can generate a map in service
Add the artificial informations such as virtual wall, service forbidden zone.When needing to load map, sweeping robot can be from the map data base
Load specified map, the information such as reducing environment information, virtual wall and service forbidden zone.There are environmental information, virtual wall information kimonos
There is great help to subsequent path planning after business forbidden zone (as cleaned forbidden zone) information.In map other than environmental information,
There are also the virtual wall being artificially arranged, service forbidden zone etc. information, make the user do not need that above- mentioned information are arranged repeatedly.
In one embodiment of map loading method for robot of the invention, the robot is from the map data base
Obtain corresponding map, comprising:
When loading the triggering of map condition, the robot obtains corresponding map from the map data base.
Here, robot can load specified map, reducing environment from map data base when loading the triggering of map condition
The information such as information, virtual wall and cleaning forbidden zone, and positioned oneself in new map using the real time information of sensor, it is fixed
It is cleaned again after position is good using the historical map or atlas.
Map load is triggered by load map condition, may be implemented timely and accurately load map.
In one embodiment of map loading method for robot of the invention, the load map condition include such as down toward
One item missing is further ensured that timely and accurately loads map:
1) when the service starting of robot, triggering load map；
For example, triggering load most recently used map when the service starting of robot；
2) when the robot receives the instruction of load map, triggering load map；
For example, robot can load corresponding map according to the instruction of the load map received；
In addition, each map can have global unique UUID as identifier, and in order to guarantee that map datum is complete
Correctly, checksum verification can be done by diagram data over the ground；
3) when the real time laser environmental information and the map that has loaded are carried out that it fails to match by the robot, touching
Hair load map.
Here, that is, system is sent out when the real time laser environmental information and the map that has loaded are carried out that it fails to match
When existing true environment and the excessive map deviation loaded, it can voluntarily start retriggered load map.
The positioning of current location of the robot in the map is carried out by laser environment information and map datum,
If being unable to complete positioning, the nearest map used can be reloaded from the map data base, or is added again
Carry a certain in preset several maps.
In one embodiment of map loading method for robot of the invention, step S3, the robot is based on described
The positioning of map and current location, carry out path planning after, further includes:
The robot is based on the path planning, cleans to the corresponding environment of the map.
Here, as shown in Figure 1, sweeping robot can generate a map during cleaning, after cleaning, map can be with
It is stored in map data base after being extracted by map manager.As it can be seen that if sweeper repeatedly clean different environment can be with
Multiple different maps are generated, and generating map for the first time in different environments is disposably to operate, and can be passed through later
The load of corresponding map in map data base, realization have memory function to environment.When needing to load map, sweeping robot meeting
Specified map, reducing environment information are loaded from the map data base, and the reality of laser sensor is utilized in new map
When laser environment information positioned oneself, carry out path planning after having good positioning, and carry out environmental cleanup using the path planning.
Another side according to the present invention also provides a kind of equipment that the map for robot loads, wherein the equipment packet
It includes:
First device, for the map of robot to be stored in map data base, the map is the planar gate of laser
Lattice map includes robot environmental information to be serviced in the planar grid map of the laser；
Second device obtains real time laser environmental information, by institute for obtaining corresponding map from the map data base
It states real time laser environmental information to be matched with the map, to obtain current location of the robot in the map
Positioning；
3rd device carries out service path planning for the positioning based on the map and current location.
It further, further include that virtual wall information and service are prohibited in above equipment, in the planar grid map of the laser
Area's information.
Further, in above equipment, the second device is used for when loading the triggering of map condition, from the map
Database obtains corresponding map.
Further, in above equipment, the load map condition triggering includes at least one of following:
When the service starting of robot, triggering load map；
When the robot receives the instruction of load map, triggering load map；
When the real time laser environmental information and the map that has loaded are carried out that it fails to match by the robot, triggering
Load map.
Further, in above equipment, the 3rd device is also used to plan based on the service path, to describedly
Scheme corresponding environment to be cleaned.
According to another aspect of the present invention, a kind of equipment based on calculating is additionally provided, wherein include:
Processor；And
It is arranged to the memory of storage computer executable instructions, the executable instruction makes the place when executed
Manage device:
The map of robot is stored in map data base, the map is the planar grid map of laser, described to swash
It include robot environmental information to be serviced in the planar grid map of light；
Corresponding map is obtained from the map data base, real time laser environmental information is obtained, by the real time laser ring
Border information is matched with the map, to obtain the positioning of current location of the robot in the map；
Positioning based on the map and current location carries out service path planning.
According to another aspect of the present invention, a kind of computer readable storage medium is additionally provided, computer is stored thereon with
Executable instruction, wherein the computer executable instructions make processor when being executed by processor:
The map of robot is stored in map data base, the map is the planar grid map of laser, described to swash
It include robot environmental information to be serviced in the planar grid map of light；
Corresponding map is obtained from the map data base, real time laser environmental information is obtained, by the real time laser ring
Border information is matched with the map, to obtain the positioning of current location of the robot in the map；
Positioning based on the map and current location carries out service path planning.
The detailed content of each equipment and storage medium embodiment of the invention, for details, reference can be made to the correspondences of each method embodiment
Part, here, repeating no more.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, software program of the invention can be executed to implement the above steps or functions by processor.Similarly, of the invention
Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, some of the steps or functions of the present invention may be implemented in hardware, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the invention can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution.
And the program instruction of method of the invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, according to one embodiment of present invention including a device, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered
Art scheme.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple
Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table
Show title, and does not indicate any particular order.
Claims (12)
1. a kind of map loading method for robot, wherein this method comprises:
The map of robot is stored in map data base, the map is the planar grid map of laser, the laser
It include robot environmental information to be serviced in planar grid map；
The robot obtains corresponding map from the map data base, and the robot obtains real time laser environmental information,
The real time laser environmental information is matched with the map, to obtain present bit of the robot in the map
The positioning set；
Positioning of the robot based on the map and current location carries out service path planning.
2. according to the method described in claim 1, wherein, in the planar grid map of the laser further include virtual wall information and
Service forbidden zone information.
3. the robot obtains corresponding map from the map data base according to the method described in claim 1, wherein,
Include:
When loading the triggering of map condition, the robot obtains corresponding map from the map data base.
4. according to the method described in claim 3, wherein, the load map condition triggering includes at least one of following:
When the service starting of robot, triggering load map；
When the robot receives the instruction of load map, triggering load map；
When the real time laser environmental information and the map that has loaded are carried out that it fails to match by the robot, triggering load
Map.
5. according to the method described in claim 1, wherein, positioning of the robot based on the map and current location, into
After the planning of row service path, further includes:
The robot is planned based on the service path, is cleaned to the corresponding environment of the map.
6. a kind of equipment that the map for robot loads, wherein the equipment includes:
First device, for the map of robot to be stored in map data base, the map is the planar grid of laser
Scheme, includes robot environmental information to be serviced in the planar grid map of the laser；
Second device obtains real time laser environmental information, by the reality for obtaining corresponding map from the map data base
When laser environment information matched with the map, to obtain determining for current location of the robot in the map
Position；
3rd device carries out service path planning for the positioning based on the map and current location.
7. equipment according to claim 6, wherein further include in the planar grid map of the laser virtual wall information and
Service forbidden zone information.
8. equipment according to claim 6, wherein the second device is used for when loading the triggering of map condition, from institute
It states map data base and obtains corresponding map.
9. equipment according to claim 8, wherein the load map condition triggering includes at least one of following:
When the service starting of robot, triggering load map；
When the robot receives the instruction of load map, triggering load map；
When the real time laser environmental information and the map that has loaded are carried out that it fails to match by the robot, triggering load
Map.
10. equipment according to claim 6, wherein the 3rd device is also used to based on service path planning,
The corresponding environment of the map is cleaned.
11. a kind of equipment based on calculating, wherein include:
Processor；And
It is arranged to the memory of storage computer executable instructions, the executable instruction makes the processing when executed
Device:
The map of robot is stored in map data base, the map is the planar grid map of laser, the laser
It include robot environmental information to be serviced in planar grid map；
Corresponding map is obtained from the map data base, obtains real time laser environmental information, the real time laser environment is believed
Breath is matched with the map, to obtain the positioning of current location of the robot in the map；
Positioning based on the map and current location carries out service path planning.
12. a kind of computer readable storage medium, is stored thereon with computer executable instructions, wherein the computer is executable
Instruction makes the processor when being executed by processor:
The map of robot is stored in map data base, the map is the planar grid map of laser, the laser
It include robot environmental information to be serviced in planar grid map；
Corresponding map is obtained from the map data base, the robot obtains real time laser environmental information, will be described real-time
Laser environment information is matched with the map, to obtain the positioning of current location of the robot in the map；
Positioning based on the map and current location carries out service path planning.
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Cited By (5)
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| CN110524542A (en) * | 2019-09-26 | 2019-12-03 | 弗徕威智能机器人科技（上海）有限公司 | A kind of human-body safety salvage and management system based on robot linkage |
| CN111854757A (en) * | 2020-06-30 | 2020-10-30 | 深圳优地科技有限公司 | Navigation method, navigation device, electronic equipment and storage medium |
| CN111857136A (en) * | 2020-07-02 | 2020-10-30 | 珠海格力电器股份有限公司 | Target map processing method and device |
| CN113010724A (en) * | 2021-04-29 | 2021-06-22 | 山东新一代信息产业技术研究院有限公司 | Robot map selection method and system based on visual feature point matching |
| CN113616117A (en) * | 2021-08-13 | 2021-11-09 | 珠海格力电器股份有限公司 | Cleaning area determination method, cleaning area determination device, cleaning area determination equipment and storage medium |
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