CN109460020A - Robot map sharing method, device, robot and system - Google Patents
Robot map sharing method, device, robot and system Download PDFInfo
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- CN109460020A CN109460020A CN201811284889.5A CN201811284889A CN109460020A CN 109460020 A CN109460020 A CN 109460020A CN 201811284889 A CN201811284889 A CN 201811284889A CN 109460020 A CN109460020 A CN 109460020A
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- 238000004590 computer program Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
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- 230000000052 comparative effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
Abstract
The present invention relates to robotic technology fields, disclose a kind of robot map sharing method, device, robot and system, the described method includes: receiving the map datum that server is sent in response to map acquisition request, the map ID of map datum is matched with the map ID in map acquisition request；It determines coordinate of the robot current location in map datum, and marks the current location of robot in map datum；Load map datum.Technical solution provided in an embodiment of the present invention shares the map datum deposit server of foundation for robot, and robot can switch map at any time, and also enhanced convenience is quick for the process of switching map.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot map sharing method, device, robot and
System.
Background technique
With the development of science and technology, robot is also gradually applied in people's lives.For example, indoor navigation machine
User can be led to the place that user specifies by people, and user is helped to find destination, security protection inspection as early as possible in foreign environment
Robot can be monitored automatically in the place patrol such as market, factory, to find security risk in time and to carry out the condition of a disaster early warning,
To reduce the generation of safety accident, life and property loss is reduced.The realization of indoor navigation robot and security protection crusing robot
It requires to establish on the basis of independent navigation, and establishing indoor map locating for robot is that robot realizes independent navigation
Premise.
When having the robot of independent navigation function for the outfit of the large areas such as market or warehouse, generally require to match simultaneously
Standby more robots, some enterprises possibly even buy thousands of machines people, at this point, if all establishing one for every robot
Map is opened, the time cost expended is very big.And when the robot in a region needs replacing, need staff's hand
It is dynamic that map is exported from original robot, then map is imported in the robot after replacement, operating process is cumbersome, low efficiency
Under.
Summary of the invention
The embodiment of the present invention provides a kind of robot map sharing method, device, robot and storage medium, existing to solve
The problem for having the map of the robot creation in technology that can not share.
In a first aspect, one embodiment of the invention provides a kind of robot map sharing method, comprising:
The map datum that server is sent in response to map acquisition request is received, map ID and the map of map datum obtain
Take the map ID matching in request；
It determines coordinate of the robot current location in map datum, and marks the present bit of robot in map datum
It sets；
Load map datum.
Second aspect, one embodiment of the invention provide a kind of robot map shared system, comprising: at least one machine
People and server, the robot and the server pass through network connection；
The server is used to store the map datum of creation；
The robot is for the step of executing any of the above-described kind of method.
The third aspect, one embodiment of the invention provide a kind of robot map sharing means, comprising:
Receiving module, the map datum sent for receiving server in response to map acquisition request, map datum
Map ID is matched with the map ID in map acquisition request；
Module is relocated, is got the bid for determining coordinate of the robot current location in map datum, and in map datum
Infuse the current location of robot；
Map loading module, for loading map datum.
Fourth aspect, one embodiment of the invention provide a kind of robot, including transceiver, memory, processor and deposit
Store up the computer program that can be run on a memory and on a processor, wherein transceiver for connecing under the control of a processor
The step of receipts and transmission data, processor realizes any of the above-described kind of method when executing program.
5th aspect, one embodiment of the invention provide a kind of computer readable storage medium, are stored thereon with computer
The step of program instruction, which realizes any of the above-described kind of method when being executed by processor.
The map datum of foundation is stored in server by technical solution provided in an embodiment of the present invention, and robot can be from clothes
Specified map datum is obtained in business device, and the map datum based on acquisition completes the reorientation of robot, robot can make
With new map datum, in this way, user only needs to establish a map, so that it may be used for all robots, robot can be cut at any time
Map is changed, and also enhanced convenience is quick for the process of switching map.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, attached drawing described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the schematic diagram for the robot map shared system that one embodiment of the invention provides；
Fig. 2 be another embodiment of the present invention provides robot map shared system schematic diagram；
Fig. 3 is the flow diagram for the robot map sharing method that one embodiment of the invention provides；
Fig. 4 is the structural schematic diagram for the robot map sharing means that one embodiment of the invention provides；
Fig. 5 is the structural schematic diagram for the robot that one embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
Any number of elements in attached drawing is used to example rather than limitation and any name are only used for distinguishing, without
With any restrictions meaning.
The process for introducing lower robot creation map simple first, user's control robot moves in a new environment, machine
The movement routine of device people recorder people in moving process, movement routine include the distance in mobile direction and movement, are moved
The distance in dynamic direction and movement can according to the movement instruction of user's control robot determine, for example, according to " left-hand rotation ",
" right-hand rotation " instructs the variation for determining moving direction, and the speed moved in the same direction according to robot and time determine along this
The mobile distance in direction specifically may also be combined with the sensing equipments such as gyroscope, the acceleration transducer of robot built-in and calculate movement
The data such as the angle turned in the process, to obtain accurate movement routine.While recorder people mobile road strength, pass through machine
Environmental information around in environment information acquisition equipment built in device people, such as laser radar, camera scanning movement routine, ring
Border information, that is, range information of the robot apart from surrounding objects, is then mapped to two for environmental information collected in movement routine
In the map of dimension, therefore, corridor, room, door, desk peripheral information can be showed in map, so which robot knows
A little places can walk, which place cannot walk, and can be obtained by initial map in this way.In initial map
On the basis of, it is labeled by each position, the region in artificial to map, obtains final map.Robot passes through foundation
Map, in conjunction with the equipment such as inertial navigation system or laser radar realize autonomous.The method of the map specifically constructed can refer to existing
There is technology realization, repeats no more.
During concrete practice, the robot for having independent navigation function is being equipped with for large areas such as market or warehouses
When, it generally requires to be equipped with more robots simultaneously, some enterprises possibly even buy thousands of machines people, at this point, if being directed to
Every robot all establishes a map, and the time cost expended is very big.And when the robot in a region needs more
When changing, staff is needed to export map from original robot manually, then map is imported in the robot after replacement, behaviour
It is cumbersome to make process, inefficiency.
For this purpose, the present inventor is it is considered that be stored in server for the map datum of foundation, robot can be from service
Specified map datum is obtained in device, and the map datum based on acquisition completes the reorientation of robot, robot can be used
New map datum, in this way, user only needs to establish a map, so that it may be used for all robots, robot can switch at any time
Map, and also enhanced convenience is quick for the process of switching map.
After introduced the basic principles of the present invention, lower mask body introduces various non-limiting embodiment party of the invention
Formula.
The present invention provides a kind of robot map shared systems, as shown in Figure 1, the system specifically includes: at least one
Robot 11 and server 12, robot 11 and server 12 pass through network connection.
It is communicatively coupled between robot 11 and server 12 by network, which can be local area network, wide area network
Deng.
Robot in the present embodiment is referred to the robot for being realized independent navigation, movement based on map.
In addition, robot can also have the function of creation map, the map datum built up can be uploaded to clothes by robot
It is engaged in device, all map datums is managed collectively by server, server can distribute unique map ID for each map datum.
Server will be sent out after receiving map acquisition request with the matched map datum of map ID in map acquisition request
Give corresponding robot.Robot determines seat of the robot current location in the map datum according to the map datum received
Mark marks the current location of robot in map datum and loads map datum, and then, robot is i.e. using new map
It realizes the autonomous in new environment, navigate.
Robot is by the shared map respectively established of above-mentioned robot map shared system, and therefore, user only needs to build
Found a map, so that it may be supplied to all robots and use, in addition, machine can be switched at any time by robot map shared system
The map that people uses, without manually importing export map datum, so that also enhanced convenience is quick for the process of switching map.
Robot is controlled and managed for convenience, as shown in Fig. 2, the robot map shared system of the present embodiment
It can also include one or more user terminals 21.It is communicatively coupled between user terminal 21 and server 23 by network, the net
Network can be local area network, wide area network etc..User terminal 21 can be portable equipment (such as: mobile phone, plate, laptop etc.),
May be PC (PC, Personal Computer).
It should be noted that user can by installed in user terminal 21 it is any comprising control robot function application journey
Sequence is interacted with server 23.
User can switch the map datum for currently loading and using by 21 remote control robot 22 of user terminal, so that ground
Figure handoff procedure is more convenient.
When it is implemented, user can directly be communicated with robot 22 by user terminal 21, user 20 passes through user
21 triggering robot 22 of end sends map acquisition request, includes the map for needing the map datum obtained in the map acquisition request
Map acquisition request is sent to server 23 by robot 22 by ID；Server 23 is found and the ground in map acquisition request
Scheme the corresponding map datum of ID, and sends to robot 22；Robot 22 based on the map datum obtained from server 23 into
Row reorientation, to determine position of the robot in new map, after having updated, robot is to carry out certainly using new map
Main movement, navigation.
When it is implemented, map acquisition request can also be sent to server 23 by user terminal 21 by user 20, the map
Acquisition request includes the robot ID for needing to obtain the robot of the map datum and map ID for the map datum for needing to obtain,
Server 23 finds map datum corresponding with the map ID in map acquisition request, and map datum is sent to and machine
The corresponding robot 22 of people ID, after robot 22 gets new map datum, is relocated, with true based on new diagram data
Determine position of the robot 22 in new map, after having updated, robot 22 navigates using new map.
It in map use process, inevitably needs to modify to established map datum, for example, indoor environment occurs
Change, or there are mistake using map is found during map.At this point, user terminal is also used to obtain and show from server
Pictorial map data are edited for user, edited map datum are uploaded to the server, i.e. user can pass through user terminal
Map datum is obtained from server, and the map datum is shown by the display interface of user terminal, and user can pass through user terminal
Diagram data carries out edit-modify over the ground.For example, dragging the reception point in map datum in the display interface, existed with modification reception point
Position in map, and direction when robot rests in reception point can be set, the initial position of Dian Ji robot is received,
Namely robot can all return to the initial position after completing navigation every time.User terminal is compiled according to the operational order that user inputs
Map datum is collected, after user completes editor, user terminal into server, services the map data update editted to replace
Original map datum in device, in this way, all robots can get newest map datum.
In order to realize automatically updating for map datum, server can be after having detected map data update, and obtaining should
The map ID of the map datum of update, ID inquires all robots that the map datum is being currently used according to the map, will
Updated map datum active push gives these robots, after robot receives new map datum, replaces original
Map datum.Alternatively, when the data for needing to update in map are less, for example, only having modified a certain location point in map
Title is changed to " meeting room ", then server can only send the more new data of map datum, and more new data can be location point, machine
The more new information of the initial position of people or forbidden line, forbidden area.
Based on above-mentioned robot map shared system, the embodiment of the present invention provides a kind of robot map sharing method, answers
For robot, with reference to Fig. 3, comprising the following steps:
S301, receive the map datum that sends in response to map acquisition request of server, the map ID of map datum with
Map ID matching in map acquisition request.
S302, it determines coordinate of the robot current location in map datum, and marks robot in map datum
Current location.
S303, load map datum.
When it is implemented, robot or user terminal send map acquisition request to server；Server obtains according to the map
It takes the map ID in request to find corresponding map datum, the map datum found is fed back into robot；Robot base
It is relocated in the map datum of server feedback, to determine that robot is presently in seat of the position in new map datum
It marks, and marks the current location of robot in map datum, allow the robot to navigate based on new map datum,
After completing reorientation, robot can load new map and navigate.It certainly, can also after robot gets map datum
First to load map datum, then the map datum based on load is relocated, and is completed after relocating i.e. using new map
Data are navigated.That is above-mentioned steps S302 and step S303 uninevitable sequencing.Therefore, the machine of the present embodiment is utilized
Device people's map sharing method, user only need to establish a map, so that it may it is used for all robots, under control of the user,
Robot can obtain the map datum of needs from server whenever and wherever possible, and be automatically performed the switching of map datum, switching
The process of map is more convenient, improves user experience.
Present embodiments provide the reorientation that two ways realizes robot.
The first relocation loading mode realizes reorientation based on the designated position in map datum, specifically includes: obtaining machine
The characteristic information of people current location, by specified location in the characteristic information of robot current location and the map datum of acquisition
Characteristic information is matched, if matching degree is higher than preset threshold, is existed the coordinate of designated position as robot current location
Coordinate in new map datum.
Wherein, characteristic information can be around the distance between object and robot around robot value or robot
Environment image.Characteristic information in map datum is acquired during creating map.Around robot current location
Characteristic information be to be acquired in real time by robot.The environment information acquisition equipment of robot built-in, such as laser can specifically be passed through
Radar or camera acquisition characteristics information.
When being relocated using first way, needs user before robot updates map datum, robot is moved
It moves to designated position, i.e. the current location of robot is designated position, then carries out the update of map again.
Designated position can be the special position predefined in map.For example, designated position can be
The position of robot charging pile.
The mode for obtaining characteristic information based on robot is different, the first relocation loading mode can also be subdivided into two kinds of feelings
Condition.
(1) characteristic information of robot current location is obtained using the environment information acquisition equipment of robot.
When it is implemented, user moves the robot into the position of charging pile, then, robot utilizes environment information acquisition
Equipment scans the environmental data around charging pile, and the distance between object and robot around environmental data, that is, robot are worth,
The environmental data can be used as the characteristic information acquired in real time, be denoted as characteristic information A；Then, it finds and fills in new map datum
The position of electric stake, and the characteristic information at charging pile position is extracted, it is denoted as characteristic information B；By characteristic information A and characteristic information B
It is matched, matched rule can be, distance value of the robot indicated in comparative feature information A apart from each object of surrounding
Whether the difference of the distance value with the robot that indicates in characteristic information B apart from each object of surrounding is less than preset error amount,
If being less than, show that characteristic information A is matched with characteristic information B, that is to say, that robot current location is exactly in new map datum
Charging pile position, at this point, the position that will be presently at the charging pile position in new map datum labeled as robot, i.e., complete
At the reorientation of robot.Certainly, since some objects in ambient enviroment may change, specifically when matching, only
Want that the fixed object in environment to the distance value of robot is identical or distance difference is less than preset error amount, then it can also be with
Assert characteristic information A and characteristic information B.
In addition, be three-dimensional stereo data by the environmental data that the environment information acquisitions equipment such as laser radar obtain, therefore,
The shape of surrounding objects, such as the shape of charging pile can also be restored by environmental data, and some spies are extracted from three-dimensional data
Point is levied, for example, corner, resemblance of charging pile etc., the characteristic point at charging pile position that robot is got at the scene
It is compared with the characteristic point at the charging pile position identified in new map datum, when the similarity of characteristic point is higher than threshold value or phase
When being more than threshold value like the data of characteristic point, it can determine that position that robot is presently in is exactly the charging pile in new map datum
At position, the coordinate at charging pile position is assigned to robot, that is, completes the reorientation of robot.
Certainly, if in robot equipped with camera when, can by camera acquire robot image, then
The image of the specified location stored in the image for the specified location that robot acquires in real time and new map datum is subjected to phase
It is compared like degree, if similarity is greater than preset threshold, shows that robot current location is exactly the designated position in new map datum
Place, is assigned to robot for the coordinate at charging pile position, that is, completes the reorientation of robot.
If when designated position of the robot not in map datum, robot can remind user to send robot to specified
Position, then relocated, to complete the update of map.
(2) characteristic information around robot current location is obtained based on the first map datum.First map datum is machine
Device people loads the map datum used before obtaining map datum from server.
This method needs the first map datum and the second map datum, and there are certain intersecting areas, and designated position is in phase
It hands in region；Or second map datum be only the first map datum more new version, and designated position is in the first map number
According to identical with the coordinate in the second map datum.
The step of reorientation, specifically includes: first coordinate of the robot current location in the first map datum is obtained, from
Characteristic information of the corresponding characteristic information of the first coordinate as robot current location is obtained in first map datum；First is sat
It marks corresponding characteristic information to be matched with the characteristic information of specified location in the second map datum, be preset if matching degree is higher than
Threshold value, the then seat using designated position in the coordinate in the second map datum as robot current location in the second map datum
Mark.Wherein, the second map datum is the new map datum obtained from server.
Certainly, in order to reduce the difficulty from location algorithm, herein, characteristic information can also be the position marked in map datum
Identification point is set, station location marker point is exactly that the position with specific name come is marked out in map, for example, meeting room, office
Room, accounting office etc., it is assumed that the left side of map midpoint A is accounting office, and the right is meeting room, then the characteristic information around point A can be with
Accounting office and meeting room, if robot recognize around have accounting office and meeting room, can determine that robot current location is
Point A in map.
If matching result shows designated position of the robot not in the second map datum, robot can remind user
Robot is sent to designated position, then is relocated, to complete the update of map.
Second of relocation loading mode, the characteristic information for obtaining robot current location, by the map of characteristic information and acquisition
The characteristic information of each location point is matched in data, using the coordinate of the highest location point of matching degree as robot present bit
Set the coordinate in map datum.
Wherein, characteristic information can be around the distance between object and robot around robot value or robot
Environment image.Characteristic information in map datum is acquired during creating map.The spy of robot current location
Reference breath is acquired in real time by robot.The environment information acquisition equipment of robot built-in, such as laser radar can specifically be passed through
Or camera acquisition characteristics information.
When using second of relocation loading mode, user is not needed by robot and is moved to designated position, robot waits in office
Position of anticipating can be carried out relocating.
The mode for obtaining characteristic information based on robot is different, and second of relocation loading mode can also be subdivided into two kinds of feelings
Condition.
(1) characteristic information around robot current location is obtained based on the first map datum.First map datum is machine
Device people loads the map datum used before obtaining map datum from server.
The step of reorientation, specifically includes: first coordinate of the robot current location in the first map datum is obtained, from
Characteristic information of the corresponding characteristic information of the first coordinate as robot current location, the first map are obtained in first map datum
Data are to load the map datum used before robot obtains map datum from server, by the corresponding characteristic information of the first coordinate
Matched with the characteristic information of location point each in second map datum, using the coordinate of the highest location point of matching degree as
Coordinate of the robot current location in map datum.Wherein, the second map datum is the new map obtained from server
Data.
The corresponding characteristic information of first coordinate is denoted as characteristic information C, each location point x in second map datumi's
Characteristic information is denoted as Di, and matched rule can be, and the robot indicated in comparative feature information C is apart from each object of surrounding
It is preset whether the difference of distance value of the robot indicated in distance value and characteristic information Di apart from each object of surrounding is less than
Error amount shows that characteristic information C is matched with characteristic information Di if being less than, that is to say, that the first coordinate and location point xiIt is corresponding
Coordinate matching, at this point, by the location point x in the second map datumiCorresponding coordinate is as robot current location in map
Coordinate in data completes the reorientation of robot.Certainly, specific matching rule is adjustable.
But there are certain intersecting area or second for this method the first map datum of needs and the second map datum
Map datum is only the more new version of the first map datum.
When the second map datum when the more new version of the first map datum, the map difference for updating front and back is smaller, therefore,
It can be easy to be matched to robot current location in the second map datum.
When the first map datum and the second map datum are there are when certain intersecting area, if robot current location is
In the intersecting area of the first map datum and the second map datum, then it is easy to be matched to robot in the second map datum
Current location.If robot current location is not in the intersecting area of the first map datum and the second map datum, machine
People is first based on the first map datum and is moved to intersecting area, and then, robot obtains current location in the first map datum
First coordinate obtains the corresponding characteristic information of the first coordinate from the first map datum, by characteristic information and the second map datum
In characteristic information matched, to determine coordinate of the robot current location in the second map datum.
Certainly, in order to reduce the difficulty from location algorithm, herein, characteristic information can also be the position marked in map datum
Identification point is set, station location marker point is exactly that the position with specific name come is marked out in map, for example, meeting room, office
Room, accounting office etc., it is assumed that the left side of map midpoint A is accounting office, and the right is meeting room, then the characteristic information around point A can be with
Accounting office and meeting room, if robot recognize around have accounting office and meeting room, can determine that robot current location is
Point A in map.
(2) characteristic information of robot current location is obtained using the environment information acquisition equipment of robot.
In this case, the step of reorientation specifically includes: obtaining machine using the environment information acquisition equipment of robot
The characteristic information of device people current location, by the characteristic information progress of each location point in characteristic information and the map datum of acquisition
Match, the coordinate using the coordinate of the highest location point of matching degree as robot current location in map datum.
Wherein, environment information acquisition equipment can be the equipment such as laser radar, camera.Utilize environment information acquisition equipment
When obtaining the environmental information of surrounding, robot can rotate in place one week and obtain enough characteristic informations, can also be towards multiple sides
To moving a certain distance respectively, to get more characteristic informations.
This method does not need to obtain characteristic information using the map datum before switching, but passes through environment information acquisition equipment
The environmental data in the real scene around current robot is got, mode when similar to creation map, i.e. scanning obtains
The characteristic information of surrounding, then the characteristic information in scene is matched with the characteristic information in new map datum, when new map
The matching degree of the characteristic information around characteristic information and robot current location in data around a certain location point is higher than default
It, can coordinate using the coordinate of the location point as robot current location in new map datum when threshold value.
Above-mentioned relocation loading mode is applicable to be arrived under any situation, even if robot is replaced to a completely strange environment
In, the update and reorientation of map can also be automatically performed.
When the map datum stored in server updates, server can send updated map number to robot
According to or map datum more new information, include the update number for needing to update in the map ID and map updated in more new information
According to more new data can be the more new information of station location marker point, the initial position of robot or forbidden line, forbidden area.Work as machine
When device people receives the more new information for currently loading the map datum used, robot can be updated according to more new data and currently loaded
The map datum used.When it is updated map datum that robot, which receives, weight is carried out according to updated map datum
Positioning, load is navigated using updated map datum after reorientation.
As shown in figure 4, being based on inventive concept identical with above-mentioned robot map sharing method, the embodiment of the present invention is also mentioned
A kind of robot map sharing means 40 have been supplied, have been specifically included: receiving module 401, reorientation module 402 and map loading module
403。
Receiving module 401 is for receiving the map datum that server is sent in response to map acquisition request, map datum
Map ID matched with the map ID in map acquisition request；
Module 402 is relocated for determining coordinate of the robot current location in map datum, and in map datum
The current location of dimensioning machine people；
Map loading module 403 is for loading map datum.
Optionally, reorientation module 402 specifically includes characteristic acquisition unit and the first matching unit.
Characteristic acquisition unit is used to obtain the characteristic information of robot current location.
First matching unit will be for that will pass through the map datum for the characteristic information and acquisition that characteristic acquisition unit obtains
In the characteristic information of each location point matched, the coordinate of the highest location point of matching degree is existed as robot current location
Coordinate in map datum.
Wherein, characteristic information is the ring around the distance between object and the robot around robot value or robot
The image in border, the characteristic information in map datum is acquired during creating map.
Optionally, reorientation module 402 specifically includes characteristic acquisition unit and the second matching unit.
Characteristic acquisition unit is used to obtain the characteristic information of robot current location.
Second matching unit will be for that will pass through the map datum for the characteristic information and acquisition that characteristic acquisition unit obtains
The characteristic information of middle specified location is matched, if matching degree is higher than preset threshold, using the coordinate of designated position as machine
Coordinate of the device people current location in map datum.
Wherein, characteristic information is the ring around the distance between object and the robot around robot value or robot
The image in border, the characteristic information in map datum is acquired during creating map.
Optionally, characteristic acquisition unit is specifically used for obtaining the of robot current location in the first map datum
One coordinate, the feature that the corresponding characteristic information of the first coordinate is obtained from the first map datum as robot current location are believed
Breath, the first map datum are robot in the map datum loaded before acquisition map datum in server.
Optionally, characteristic acquisition unit is specifically used for obtaining robot using the environment information acquisition equipment of robot
The characteristic information of current location.
Optionally, robot map sharing means 40 further include data update module, for receiving the machine of server push
The more new data for the map datum that device people currently loads, and the map datum that robot currently loads is updated according to more new data.
Wherein, updated data package includes the more new information of location point, the initial position of robot or forbidden line, forbidden area.
The robot map sharing means that the embodiment of the present invention mentions use identical with above-mentioned robot map sharing method
Inventive concept, identical beneficial effect can be obtained, details are not described herein.
Based on inventive concept identical with above-mentioned robot map sharing method, the embodiment of the invention also provides a kind of machines
Device people.As shown in figure 5, the robot 50 may include processor 501, memory 502 and transceiver 503.Transceiver 503 is used for
Data are sended and received under the control of processor 501.
Memory 502 may include read-only memory (ROM) and random access memory (RAM), and provide to processor
The program instruction and data stored in memory.In embodiments of the present invention, it is total to can be used for storing robot map for memory
Enjoy the program of method.
Processor 501 can be CPU (centre buries device), ASIC (Application Specific Integrated
Circuit, specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or
CPLD (Complex Programmable Logic Device, Complex Programmable Logic Devices) processor is by calling storage
The program instruction of device storage, the robot map sharing method in any of the above-described embodiment is realized according to the program instruction of acquisition.
The embodiment of the invention provides a kind of computer readable storage mediums, by being stored as based on used in above-mentioned robot
Calculation machine program instruction, it includes the programs for executing above-mentioned robot map sharing method.
Above-mentioned computer storage medium can be any usable medium or data storage device that computer can access, packet
Include but be not limited to magnetic storage (such as floppy disk, hard disk, tape, magneto-optic disk (MO) etc.), optical memory (such as CD, DVD,
BD, HVD etc.) and semiconductor memory (such as it is ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH), solid
State hard disk (SSD)) etc..
The above, above embodiments are only described in detail to the technical solution to the application, but the above implementation
The method that the explanation of example is merely used to help understand the embodiment of the present invention, should not be construed as the limitation to the embodiment of the present invention.This
Any changes or substitutions that can be easily thought of by those skilled in the art, should all cover the embodiment of the present invention protection scope it
It is interior.
Claims (10)
1. a kind of robot map sharing method characterized by comprising
The map datum that server is sent in response to map acquisition request is received, the map ID of the map datum is with described
Map ID matching in figure acquisition request；
It determines coordinate of the robot current location in the map datum, and marks the robot in the map datum
Current location；
Load the map datum.
2. the method according to claim 1, wherein the determination robot current location is in the map
Coordinate in data, specifically includes:
The characteristic information for obtaining the robot current location, by each location point in the characteristic information and the map datum
Characteristic information matched, using the coordinate of the highest location point of matching degree as the robot current location in the map
Coordinate in data；
Or,
The characteristic information for obtaining the robot current location, by specified location in the characteristic information and the map datum
Characteristic information matched, if matching degree be higher than preset threshold, using the coordinate of the designated position as the robot
Coordinate of the current location in the map datum；
The characteristic information is the distance between object and the robot around robot value or robot week
The image of the environment enclosed, the characteristic information in the map datum is acquired during creating map.
3. according to the method described in claim 2, it is characterized in that, the feature letter for obtaining the robot current location
Breath, specifically includes:
First coordinate of the robot current location in the first map datum is obtained, is obtained from first map datum
Characteristic information of the corresponding characteristic information of first coordinate as the robot current location, first map datum are
The map datum that the robot loads before obtaining the map datum；
Or,
The characteristic information of the robot current location is obtained using the environment information acquisition equipment of the robot.
4. the method according to claim 1, wherein further include:
The more new data for the map datum that the robot of reception server push currently loads, and according to the more new data
Update the map datum that the robot currently loads.
5. according to the method described in claim 4, it is characterized in that, the updated data package includes: station location marker point, the machine
The more new information of the initial position of people or forbidden line, forbidden area.
6. a kind of robot map shared system characterized by comprising at least one robot and server, the machine
Device people and the server pass through network connection；
The server is used to store the map datum of creation；
The robot requires any the method in 1-5 for perform claim.
7. system according to claim 6, which is characterized in that it further include user terminal, the user terminal and the server
By network connection, the user terminal is used to send map acquisition request or the triggering robot to the server to service
Device sends map acquisition request.
8. system according to claim 7, which is characterized in that the user terminal is also used to obtain simultaneously from the server
Display map datum is edited for user, and edited map datum is uploaded to the server.
9. a kind of robot map sharing means characterized by comprising
Receiving module, the map datum sent for receiving server in response to map acquisition request, the map datum
Map ID is matched with the map ID in the map acquisition request；
Module is relocated, for determining coordinate of the robot current location in the map datum, and in the map datum
The current location of the middle mark robot；
Map loading module, for loading the map datum.
10. a kind of robot, including transceiver, memory, processor and storage can be run on a memory and on a processor
Computer program, which is characterized in that the transceiver is described for sending and receiving data under the control of the processor
Processor realizes the step of any one of claim 1 to 5 the method when executing described program.
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| CN201811284889.5A CN109460020A (en) | 2018-10-31 | 2018-10-31 | Robot map sharing method, device, robot and system |
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| CN201811284889.5A CN109460020A (en) | 2018-10-31 | 2018-10-31 | Robot map sharing method, device, robot and system |
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