CN109933066A - A kind of method and apparatus of robot motion track playback - Google Patents
A kind of method and apparatus of robot motion track playback Download PDFInfo
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- CN109933066A CN109933066A CN201910133327.9A CN201910133327A CN109933066A CN 109933066 A CN109933066 A CN 109933066A CN 201910133327 A CN201910133327 A CN 201910133327A CN 109933066 A CN109933066 A CN 109933066A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 44
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- 230000001427 coherent effect Effects 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
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Abstract
The purpose of the application is to provide a kind of method and apparatus of robot motion track playback, the history moving coordinate point data that the application passes through the read machine people from cloud；Coordinate system transformation of scale is carried out to the history moving coordinate point data, determines playback motion track according to transformed data；The playback motion track is subjected to serializing displaying according to predetermined manner.It is the historical movement path of user playback robot to carry out coherent playback display by reading out the robot history moving coordinate point data for being saved in cloud.The route track that viewing has been passed by can also be played back in the case where robot is static.
Description
Technical field
This application involves the method and apparatus that robot field more particularly to a kind of robot motion track play back.
Background technique
It, can only the viewing shifting in real time in the case where robot is mobile when user wants the motion track of viewing robot at present
Dynamic rail mark can not play back viewing after user, which misses, watches real-time motion track from the beginning or since any history coordinate points
History route track.That is, the prior art can not expire when user thinks to read through the process of a certain section of track formation again
Foot.
Summary of the invention
The purpose of the application is to provide a kind of method and apparatus of robot motion track playback, solves the prior art
In can not playback robot entire history moving process, the problem of real-time motion track can only be watched.
According to the one aspect of the application, a kind of method of robot motion track playback is provided, this method comprises:
The history moving coordinate point data of read machine people from cloud；
Coordinate system transformation of scale is carried out to the history moving coordinate point data, determines that playback moves according to transformed data
Dynamic rail mark；
The playback motion track is subjected to serializing displaying according to predetermined manner.
Further, before the history moving coordinate point data of read machine people in cloud, comprising:
The robot constructs map by location navigation, determines history moving coordinate point data；
The history moving coordinate point data is sent to the cloud.
Further, the robot constructs map by location navigation, determines history moving coordinate point data, comprising:
The execution task of the robot is determined according to the starting point of the robot region；
The robot constructs map by location navigation according to the execution task, determines that history moving coordinate is counted
According to saving the history moving coordinate point data to local.
Further, it is determined that after history moving coordinate point data, comprising:
When the robot completes the execution task, call cloud interface by the map and the history coordinate points
Data are uploaded to the cloud.
Further, from cloud read machine people history moving coordinate point data, comprising:
History coordinate point data is read from the cloud, determines that target playback rises according to the history coordinate point data
Point；
Wherein, coordinate system transformation of scale is carried out to the history moving coordinate point data, is determined according to transformed data
Play back motion track, comprising:
Coordinate system transformation of scale is carried out to the history moving coordinate point data, is determined according to transformed coordinate point data
Using the target playback starting point as the playback motion track of starting point.
Further, the predetermined manner includes: playback rate and display scale.
Further, coordinate system transformation of scale is carried out to the history moving coordinate point data, comprising:
According to the transport coefficient of the resolution ratio of the map, scaling and the robot to the history moving coordinate
Point data carries out coordinate system transformation of scale.
Further, from cloud read machine people history moving coordinate point data, comprising:
Determine the calling object where the display playback motion track, cloud interface described in the calling object reference with
Read the history moving coordinate point data of the robot.
According to the application another aspect, a kind of equipment of robot motion track playback is additionally provided, which includes:
One or more processors；And
It is stored with the memory of computer-readable instruction, the computer-readable instruction makes the processor when executed
Execute the operation such as aforementioned the method.
On the other hand according to the application, a kind of computer-readable medium is additionally provided, is stored thereon with computer-readable
Instruction, the method that the computer-readable instruction can be executed by processor to realize a kind of aforementioned robot motion track playback.
Compared with prior art, the history moving coordinate point data that the application passes through the read machine people from cloud；To institute
It states history moving coordinate point data and carries out coordinate system transformation of scale, determine playback motion track according to transformed data；By institute
It states playback motion track and carries out serializing displaying according to predetermined manner.To mobile by the robot history that will be saved in cloud
Coordinate points reading data, which comes out, carries out coherent playback display, is the historical movement path of user playback robot.It is quiet in robot
The route track that viewing has been passed by can also be played back in the case where only.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows a kind of method flow signal of the robot motion track playback provided according to the one aspect of the application
Figure.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
The application is described in further 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.
Fig. 1 shows a kind of method flow signal of the robot motion track playback provided according to the one aspect of the application
Figure, this method comprises: step S11~step S13, wherein in step s 11, the history of read machine people is mobile from cloud
Coordinate point data；Here, the robot history moving coordinate point data for being saved in cloud is read out, each coordinate point data
For (x, y) in two-dimensional coordinate system.Then, in step s 12, coordinate system ratio is carried out to the history moving coordinate point data
Transformation determines playback motion track according to transformed data；Here, patrolling according to the physical coordinates system of equipment and actual displayed
The mapping relations for collecting coordinate system, the history moving coordinate point data read out from cloud are converted, being converted to can show
Coordinate data on the client.To the playback motion track for determining to need to play back according to the data after conversion, to machine
The historical movement path of people restores.Then, in step s 13, the playback motion track is carried out according to predetermined manner
Serializing is shown.Here, will play back track setsization after data are carried out coordinate system transformation of scale according to predetermined manner and show
Client, wherein predetermined manner includes playback rate and display scale.It can select different rates and setting display scale
It is shown the effect of playback track.To by the way that the robot history moving coordinate point data for being saved in cloud is read out
Coherent playback display is carried out, is the historical movement path of user playback robot.
In one embodiment of the application, before the history moving coordinate point data of read machine people in cloud, the side
Method includes: step S10, and the robot constructs map by location navigation, determines history moving coordinate point data；It is gone through described
History moving coordinate point data is sent to the cloud.Here, robot is navigated by autonomous positioning, mobile figure of building is generated in real time
These moving coordinate point datas are saved in cloud by figure moving coordinate point data.Specifically, according to the robot region
Starting point determine the execution task of the robot；The robot constructs ground by location navigation according to the execution task
Figure, determines history moving coordinate point data, the history moving coordinate point data is saved to local.Here, robot starts
One task is simultaneously moved since the starting point in the region at place, and robot is raw in moving process when executing this subtask
At map and mobile trajectory data, save to local.The route actually passed by is determined according to the map of building, will actually be passed by
Route save to cloud, played back so as to subsequent, motion track when playback is by robot based on constructed map
It is determined when execution task, i.e., the route walked can be different when different maps makes robot execute task, therefore, when playback
The cartographic information of robot building is reproduced.In addition, the data read are to be navigated and moved by robot autonomous localization to build figure and go out
The data come, identical beginning and end, data may be different；For example, robot is in the same starting point and the same terminal
Between move, if so barrier once occurs in certain in route, robot will be around another route of selection, so seat twice
Marking data can be different；Robot is the mobile Bian Jiantu in side or updates map, therefore route planning is real-time.
The trace playback of electronic map in the prior art is route track preview, and practical route preview of not passing by is shown
Out, beginning and end is inputted into scene calculating as parameter and cooks up route, route is shown again later.And at this
Not calculated using beginning and end as parameter in application, because the route data in the application be not it is pre-planned,
But what robot was planned while mobile by radar and algorithm.Because each route may be different, for example obstacle is encountered halfway
Object etc., then saves the route of walking to cloud, and history moving coordinate point data is read from cloud and carries out simulative display
Historical movement path can also play back viewing in the case where robot is static from the beginning or since any one history coordinate points
The route track passed by.
In one embodiment of the application, when the robot completes the execution task, call cloud interface described
Map and the history coordinate point data are uploaded to the cloud.Here, calling cloud interface after robot completes execution task
The map of building and history coordinate point data (route data passed by) are uploaded to cloud, so as to subsequent progress single task
The playback of track data.
In one embodiment of the application, history coordinate point data is read from the cloud, according to the history coordinate points
Data determine target playback starting point；Wherein, in step s 12, coordinate system ratio is carried out to the history moving coordinate point data
Transformation is determined according to transformed coordinate point data using the target playback starting point as the playback motion track of starting point.Here,
Can be played since any coordinate points when carrying out playback track, since in cloud read with target playback starting point after movement
Track data after the mobile trajectory data of reading is carried out coordinate system transformation of scale, determines with the target playback starting point to be to play
The playback motion track of starting point, wherein can be by first seat of the history coordinate data of the subtask read from cloud
Mark is determined target playback starting point.It, can be by from reading for example, certain section of mobile trajectory data shares 100 coordinate points
30 coordinate points realize playback that the 30th coordinate points start.
It, can be with when carrying out coordinate system transformation of scale to the history moving coordinate point data in one embodiment of the application
According to the transport coefficient of the resolution ratio of the map, scaling and the robot to the history moving coordinate point data into
Row coordinate system transformation of scale.Here, being converted the data read from cloud by coordinate system mapping algorithm, which reflects
It penetrates algorithm and meets following formula:
(x, y)=(1,1) × resolution × scale+translation, wherein resolution is map resolution
Rate, scale are scaling, and translation is transport coefficient.Wherein, scaling is for the letter such as map and mobile route
Breath when being shown in screen can according to certain proportion zoom in or out.
In one embodiment of the application, the calling object shown where the playback motion track, the tune can be determined
The cloud interface described in object reference is to read the history moving coordinate point data of the robot.Here, calling object is visitor
The called sides such as application program (APP) or webpage on the end of family, cloud provide the coordinate for reading and being formed by historical movement path data
The interface of sequence, called side calling interface are realized and are set by algorithm display scale, coordinate sequence is shown as dynamic trajectory,
And can quickly or slow play, can also be played since any coordinate points.
In addition, it is stored thereon with computer-readable instruction the embodiment of the present application also provides a kind of computer-readable medium,
The method that the computer-readable instruction can be executed by processor to realize a kind of aforementioned robot motion track playback.
According to the application another aspect, a kind of equipment of robot motion track playback is additionally provided, wherein described to set
It is standby to include:
One or more processors；And
It is stored with the memory of computer-readable instruction, the computer-readable instruction makes the processor when executed
Execute the operation of method above-mentioned.
For example, computer-readable instruction makes one or more of processors when executed:
The history moving coordinate point data of read machine people from cloud；
Coordinate system transformation of scale is carried out to the history moving coordinate point data, determines that playback moves according to transformed data
Dynamic rail mark；
The playback motion track is subjected to serializing displaying according to predetermined manner.
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 application 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, the software program of the application can be executed to implement the above steps or functions by processor.Similarly, the application
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, hardware can be used to realize in some steps or function of the application, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the application 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 present processes and/or technical solution.
And the program instruction of the present processes 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, including a device according to one embodiment of the application, 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 application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or essential characteristic, the application 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 scope of the present application 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 application.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 (10)
1. a kind of method of robot motion track playback, wherein the described method includes:
The history moving coordinate point data of read machine people from cloud；
Coordinate system transformation of scale is carried out to the history moving coordinate point data, determines playback moving rail according to transformed data
Mark；
The playback motion track is subjected to serializing displaying according to predetermined manner.
2. according to the method described in claim 1, wherein, from cloud the history moving coordinate point data of read machine people it
Before, comprising:
The robot constructs map by location navigation, determines history moving coordinate point data；
The history moving coordinate point data is sent to the cloud.
3. determining that history is moved according to the method described in claim 2, wherein, the robot constructs map by location navigation
Moving axes point data, comprising:
The execution task of the robot is determined according to the starting point of the robot region；
The robot constructs map by location navigation according to the execution task, determines history moving coordinate point data, will
The history moving coordinate point data is saved to local.
4. according to the method described in claim 3, wherein it is determined that after history moving coordinate point data, comprising:
When the robot completes the execution task, call cloud interface by the map and the history coordinate point data
It is uploaded to the cloud.
5. according to the method described in claim 1, wherein, the history moving coordinate point data of read machine people from cloud is wrapped
It includes:
History coordinate point data is read from the cloud, and target playback starting point is determined according to the history coordinate point data；
Wherein, coordinate system transformation of scale is carried out to the history moving coordinate point data, is determined and is played back according to transformed data
Motion track, comprising:
Coordinate system transformation of scale is carried out to the history moving coordinate point data, is determined according to transformed coordinate point data with institute
State the playback motion track that target playback starting point is starting point.
6. according to the method described in claim 1, wherein, the predetermined manner includes: playback rate and display scale.
7. according to the method described in claim 1, wherein, carrying out the change of coordinate system ratio to the history moving coordinate point data
It changes, comprising:
It is counted according to the transport coefficient of the resolution ratio of the map, scaling and the robot the history moving coordinate
According to progress coordinate system transformation of scale.
8. according to the method described in claim 1, wherein, the history moving coordinate point data of read machine people from cloud is wrapped
It includes:
Determine the calling object where the display playback motion track, cloud interface described in the calling object reference is to read
The history moving coordinate point data of the robot.
9. a kind of equipment of robot motion track playback, wherein the equipment includes:
One or more processors；And
It is stored with the memory of computer-readable instruction, the computer-readable instruction when executed executes the processor
Such as the operation of any one of claims 1 to 8 the method.
10. a kind of computer-readable medium, is stored thereon with computer-readable instruction, the computer-readable instruction can be processed
Device is executed to realize such as method described in any item of the claim 1 to 8.
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| CN201910133327.9A CN109933066A (en) | 2019-02-22 | 2019-02-22 | A kind of method and apparatus of robot motion track playback |
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| CN201910133327.9A CN109933066A (en) | 2019-02-22 | 2019-02-22 | A kind of method and apparatus of robot motion track playback |
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| CN112113565A (en) * | 2020-09-22 | 2020-12-22 | 温州科技职业学院 | Robot positioning system for agricultural greenhouse environment |
| CN112446651A (en) * | 2019-08-29 | 2021-03-05 | 北京京东乾石科技有限公司 | Method and device for monitoring transportation equipment |
| CN112902965A (en) * | 2021-01-28 | 2021-06-04 | 盈合(深圳)机器人与自动化科技有限公司 | Method and system for displaying cross-floor track of robot |
| CN114253585A (en) * | 2021-12-24 | 2022-03-29 | 苏州浪潮智能科技有限公司 | Remote updating method, system, device and storage medium of robot running program |
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Application publication date: 20190625 |