CN109993794A - A kind of robot method for relocating, device, control equipment and storage medium - Google Patents
A kind of robot method for relocating, device, control equipment and storage medium Download PDFInfo
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- CN109993794A CN109993794A CN201910247801.0A CN201910247801A CN109993794A CN 109993794 A CN109993794 A CN 109993794A CN 201910247801 A CN201910247801 A CN 201910247801A CN 109993794 A CN109993794 A CN 109993794A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of robot method for relocating, device, control equipment and storage mediums, to improve the accuracy and flexibility that are relocated after robot restarting.The method, comprising: after robot starting, judge whether the robot connect with charging pile；If it is determined that robot is not connect with charging pile, then the robot starting camera shooting current scene image is controlled；It is relocated according to the visual document of the current scene image and storage.
Description
Technical field
The present invention relates to field of artificial intelligence more particularly to a kind of robot method for relocating, device, control equipment
And storage medium.
Background technique
Robot reorientation is the process of its determining present position in circumstances not known, is to realize robot autonomous navigation energy
The key of power.The operations such as restart or shut down in robot and will cause robot and reset bit loss, cause robot not can from
Leading boat.
To solve the above-mentioned problems, usually the robot after restarting is relocated by following either a program at present:
1, after robot starting, by manually marking current location to relocate with auxiliary robot on the map of robot load；2,
Start on charging pile；3, robot is shifted onto the navigation that robot is used after positioning on charging pile successfully after robot starting
Function, behind in two schemes, robot determination after detecting charging signals is connect itself with charging pile, according to being stored in advance
The position of charging pile determine itself current position, to complete to position.
In the first above-mentioned solution, in the scheme by the reorientation of handmarking current location auxiliary robot, need
Very important person is the relative position compared robot on map and inputs possible coordinate position, and robot is relocated accordingly,
There is a certain error during due to artificially comparing progress position mark in the above process, resets to reduce robot
The accuracy of position, then in two schemes, robot reorientation is required to rely on charging pile, reduces the spirit of robot reorientation
Activity.
Summary of the invention
The embodiment of the present invention provides a kind of robot method for relocating, device, control equipment and storage medium, to improve
The accuracy and flexibility relocated after robot restarting.
In a first aspect, providing a kind of robot method for relocating, comprising:
After robot starting, judge whether the robot connect with charging pile；
If it is determined that robot is not connect with charging pile, then the robot starting camera shooting current scene figure is controlled
Picture；
It is relocated according to the visual document of the current scene image and storage.
In a kind of possible embodiment, the visual document includes that the robot is built according to the ambient enviroment of scanning
The ambient image text of vertical map file and/or the robot captured ambient enviroment image composition during the motion
Part；And
It is relocated, is specifically included according to the visual document of the current scene image and storage:
Compare the current scene image and the map file and/or ambient image file of shooting；
It is relocated according to comparison result.
In a kind of possible embodiment, after robot starting, judge whether the robot connect with charging pile
Before, further includes:
The point information of the last robot record, described is searched, the point information includes at least the machine
The location information and orientation information of people；
It determines that the point information found according to carries out reorientation failure, or does not find point information.
In a kind of possible embodiment, controls the robot and is relocated according to the point information found,
It specifically includes:
The position of the robot is determined according to the location information for including in the point information find, described；And
The posture of the robot is determined according to the orientation information for including in the point information find, described.
In a kind of possible embodiment, according to following below scheme judge according to find point information reorientation whether
Failure:
According to the point information found and the laser figure pre-established, determine the point information in the laser figure
Corresponding first laser figure；
It controls the robot and obtains second laser figure using laser scanning ambient enviroment；
If the first laser figure and second laser figure matching, it is determined that reset according to the point information found
Position success, otherwise, it determines according to the point information reorientation failure found.
In a kind of possible embodiment, the point information of recorder people, comprising:
The point information of real-time recorder people；Or
According to the point information of the periodic recording robot of setting；Or
When the location information of robot changes, the point information of recorder people.
In a kind of possible embodiment, if do not find visual document or according to the current scene image and
The visual document of storage carries out reorientation failure, further includes:
The robot display reminding information is controlled, the prompt information is for prompting user to connect robot and charging pile
It connects to be relocated.
In a kind of possible embodiment, robot method for relocating provided by the invention, further includes:
If it is determined that the robot is connect with charging pile, then the location information of the charging pile according to the pre-stored data into
Row reorientation.
Second aspect provides a kind of robot relocation device, comprising:
Judging unit, for judging whether the robot connect with charging pile after robot starting；
Control unit is used to then control the robot and start camera if it is determined that robot connect with charging pile
Shoot current scene image；It is relocated according to the visual document of the current scene image and storage.
In a kind of possible embodiment, the visual document includes that the robot is built according to the ambient enviroment of scanning
The ambient image text of vertical map file and/or the robot captured ambient enviroment image composition during the motion
Part；And
Described control unit, specifically for comparing the current scene image and the map file and/or environment map of shooting
As file；It is relocated according to comparison result.
In a kind of possible embodiment, robot relocation device provided by the invention, further includes searching unit,
In:
The searching unit, for before judging whether the robot connect with charging pile, looking into after robot starting
The point information of the last robot record, described is looked for, the position that the point information includes at least the robot is believed
Breath and orientation information；
Described control unit, the point information for being also used to determine that basis is found carries out reorientation failure, or does not search
To point information.
In a kind of possible embodiment, described control unit, specifically for according to point information find, described
In include location information determine the position of the robot；And according to the court for including in the point information find, described
The posture of the robot is determined to information.
In a kind of possible embodiment, described control unit, for building according to the point information that finds and in advance
Vertical laser figure determines the point information corresponding first laser figure in the laser figure；The robot is controlled to utilize
Laser scanning ambient enviroment obtains second laser figure；If the first laser figure and second laser figure matching, it is determined that
It is relocated successfully according to the point information found, otherwise, it determines according to the point information reorientation failure found.
In a kind of possible embodiment, robot relocation device provided by the invention, further includes:
Recording unit, the point information for real-time recorder people；Or the periodic recording robot according to setting
Point information；Or when the location information of robot changes, the point information of recorder people.
In a kind of possible embodiment, described control unit, if being also used to not find visual document or root
Reorientation failure is carried out according to the current scene image and the visual document of storage, then controls the robot display reminding letter
Breath, the prompt information is for prompting user to connect robot to relocate with charging pile.
In a kind of possible embodiment, described control unit is also used to if it is determined that the robot and charging pile
Connection, then the location information of the charging pile according to the pre-stored data is relocated.
The third aspect provides a kind of control equipment, including at least one processor and at least one processor, wherein
The memory is stored with computer program, when described program is executed by the processor, so that the processor executes
State either step described in robot method for relocating.
Fourth aspect provides a kind of robot, including above-mentioned control equipment.
5th aspect, provides a kind of computer-readable medium, is stored with the computer program that can be executed by control equipment,
When described program is run on the control device, appoint described in above-mentioned robot method for relocating so that the control equipment executes
One step.
6th aspect, provides a kind of computer program product, and the computer program product includes being stored in computer to deposit
Computer program on storage media, the computer program includes program instruction, real when described program instruction is executed by processor
Existing any of the above-described robot method for relocating.
In robot method for relocating provided in an embodiment of the present invention, device, control equipment and storage medium, work as robot
After restarting, if it is judged that robot is not connect with charging pile, then controls robot starting camera shooting and work as front court
Scape image is relocated according to current scene image and the visual document of storage, in the above process, is not necessarily to manpower intervention, from
And avoid human assistance positioning caused by error, improve robot reorientation accuracy, and the above method be not necessarily to according to
The position for relying charging pile improves the flexibility of robot reorientation.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 a is the implementation process diagram according to the robot method for relocating of embodiment of the present invention；
Fig. 1 b is the implementation process diagram according to another robot method for relocating of embodiment of the present invention；
Fig. 2 is the implementation process diagram according to the another robot method for relocating of embodiment of the present invention；
Fig. 3 is the structural schematic diagram according to the robot relocation device of embodiment of the present invention；
Fig. 4 is the structural schematic diagram according to the control equipment of embodiment of the present invention.
Specific embodiment
In order to improve the accuracy and flexibility that position after robot restarts, the embodiment of the invention provides a kind of robots
Method for relocating, device, control equipment and storage medium.
It should be noted that the term " in specification and claims and above-mentioned attached drawing in the embodiment of the present invention
One ", " second " etc. is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that
The data used in this way are interchangeable under appropriate circumstances, so as to the embodiments described herein can in addition to illustrating herein or
Sequence other than the content of description is implemented.
Referenced herein " multiple or several " refer to two or more."and/or" describes affiliated partner
Incidence relation, indicate may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B,
These three situations of individualism B.Character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Below in conjunction with Figure of description, preferred embodiment of the present invention will be described, it should be understood that described herein
Preferred embodiment only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention, and in the absence of conflict, this hair
The feature in embodiment and embodiment in bright can be combined with each other.
Inventors have found that restart or power-off operation will cause robot localization loss, robot restarting after,
Need to re-start positioning.But in existing robot reorientation scheme or manpower intervention auxiliary robot is needed to reset
Position or need to rely on charging pile, reduce robot reorientation accuracy and flexibility.In view of this, the present invention is implemented
Example provides a kind of robot method for relocating that charging pile position is also needed not rely on without manpower intervention, to improve robot weight
The accuracy and flexibility of positioning.
It as shown in Figure 1a, is the implementation process diagram of robot method for relocating provided in an embodiment of the present invention, it can
With the following steps are included:
S101, robot starting after, judge whether the robot connect with charging pile, if so, execution step
S102, if not, executing step S103.
It should be noted that use map as navigation map since robot reorientation needs to be loaded into map, and in machine
When device people starts for the first time, robot not yet loads map, and therefore, the starting of robot involved in this step is often referred to robot
Non-initial start for example, run-time error exits and restarts in the process of running for robot, or is forced in robot operational process
Restart, starting is turned back on after perhaps shutting down or server-side remotely gives and control robot is instructed to restart.
After robot starting, needs to carry out " self-test ", i.e., itself software and hardware state is detected, if detected
The problem of robot operates normally is influenced, then " self-test " does not pass through.In the embodiment of the present invention, pass through in robot " self-test " or
It artificially exits after self-test state, relocates process into robot.Into after reorientation process, robot judges that itself is
It is no to be connect with charging pile, for example, can judge whether robot connects with charging pile by judging whether to detect charging signals
It connects, can determine that robot is connect with charging pile if detecting charging signals, otherwise, it determines robot does not connect with charging pile
It connects.
S102, charging pile according to the pre-stored data location information relocated, process terminates.
When it is implemented, robot is built after figure success, when connecting with charging pile, the position of current robot can recorde
Confidence is ceased to be stored as the location information of charging pile, and subsequent robot can root after returning to charging pile every time and connecting with charging pile
It is positioned according to the location information of the charging pile of record.It therefore, then can be direct if it is judged that robot is connect with charging pile
It is positioned using the location information of charging pile.
S103, control robot starting camera shoot current scene image.
S104, it is relocated according to current scene image and the visual document of storage.
If it is judged that robot and charging pile are not connected, then can further be determined using vision relocation loading mode
Position.Such as it can control robot starting camera shooting current scene image, and according to the view of current scene image and storage
Feel that file is relocated.The visual document of robot storage can establish the ground picture and text established during map for robot
Part, or the ambient image file of captured ambient image composition in robot kinematics, wherein map file can be with
The map file that ambient enviroment is established is scanned by relevant devices such as laser radars for robot.
When actual implementation, when judging that robot and charging pile are not connected, robot starting camera can control, and
Control robot rotate in place shooting current scene image, compare the current scene image of shooting and the map file of foundation and/
Or ambient image file, it is relocated according to comparison result.
In a kind of possible embodiment, can also be believed by the point information of real-time recorder people, the point of record
Breath includes the location information and orientation information of robot, in this way, after robot restarting, it can be according to the point of record
Information determines position and the posture before robot restarts, and is relocated accordingly.When it is implemented, can record in real time
The point information of robot, can also be according to the point information of the periodic recording robot of setting, can also be in the position of robot
The point information of recorder people when changing is set, the embodiment of the present invention is to this without limiting.Wherein, recorder people point
The period of position information can be by user setting, or system setting.
In this way, can be relocated according to process shown in Fig. 1 b after robot starting:
S111, after robot starting, search the last record, robot point information.
After relocating process into robot, the last record, robot point information is searched.
S112, it is relocated according to the point information found.
When it is implemented, can be according to the location information and orientation information for including in point information, according to the point found
The location information for including in the information of position determines the position of robot, and the appearance of robot is determined according to orientation information therein
State.Wherein, the location information of robot includes the position coordinates that can indicate robot location.
In a kind of possible embodiment, the mode that the above-mentioned point information according to robot records is relocated can be with
It is executed prior to step S101, i.e., after robot starting, first carries out the process relocated according to the point information of record,
If relocating failure according to point information or not finding point information, S101 is thened follow the steps；Alternatively, above-mentioned according to machine
The mode that the point information of device people record is relocated can also judge that basis is the positioning failure of vision relocation loading mode
Or execution after visual document is not found, the embodiment of the present invention is to this without limiting.
In a kind of possible embodiment, it can judge to be reset according to the point information of record according to following below scheme
Whether position fails: according to the point information found and the laser figure pre-established, determining the point information found in laser
Corresponding first laser figure in figure；It controls robot and obtains second laser figure using laser scanning ambient enviroment；If first swashs
Light figure and the matching of second laser figure, it is determined that relocated successfully according to the point information found, otherwise, it determines according to finding
Point information relocate failure.
When it is implemented, robot is during initialization, laser scanning can be carried out to working space and establish laser figure,
In laser figure, the fixed obstacle of robot working space is presented as lines, and the corresponding local laser figure of different coordinate positions is not
Together, it is based on this, in present invention implementation, its corresponding office can be determined according to the point information of record find, the last
Portion's laser figure, and the local laser figure that robot obtains current position using the current ambient enviroment of laser scanning is controlled, such as
Both fruits matching, then can determine and relocate successfully, if the two mismatch, illustrate robot last time shut down after this
The front position restarted has occurred and that variation, causes according to the point information reorientation failure recorded before shutdown.
In a kind of possible embodiment, if attempting to be relocated using point information, judge robot respectively
Whether it is connect with charging pile and vision positioning mode relocates when failing, then controls robot display reminding information, this is mentioned
Show information for prompting user to connect robot to relocate with charging pile.It can be shown using page prompts function
Prompt information prompts user to connect robot with charging pile, to be relocated according to the position of charging pile to robot.Tool
When body is implemented, user can also be prompted to connect robot to relocate with charging pile by voice prompting mode.
Embodiment in order to better understand the present invention, below in conjunction with the positioning flow after robot starting to reality of the invention
The process of applying is described in detail, as shown in Fig. 2, may comprise steps of:
S201, robot starting.
S202, judge whether it is robot and start for the first time, if so, S203 is thened follow the steps, if not, thening follow the steps
S204。
S203, configuration flow, process terminate for the first time for starting.
In this step, if it is judged that this starting is that robot starts for the first time, then matched for the first time according to user's operation starting
Set process.
S204, startup self-detection process is executed.
In this step, mainly the software and hardware state of robot itself is detected.
S205, judge whether robot self-test passes through, if so, executing step S206, otherwise, execute step S207.
S206, load map, and execute step S208.
S207, judge whether to receive user speech exit instruction, if so, step S206 is executed, if not, executing step
Rapid S201.
S208, judge to load whether map succeeds, if so, executing step S209, otherwise, execute step S219.
Whether the map that S209, judgement currently load is provided with the position of charging pile, if so, step S210 is executed, it is no
Then, step S222 is executed.
S210, judge whether that record has the point information of robot, if so, step S211 is executed, if not, executing step
Rapid S212.
S211, robot reorientation is carried out using the point information of record, process terminates.
In this step, robot reorientation can be carried out according to the point information of the last time record.Specifically, Ke Yigen
The location information for including in the information of strong point position determines the position of robot, determines machine according to the orientation information for including in point information
The posture of device people.
S2110, judge whether succeed using the point information reorientation of record, if so, process terminates, if not, holding
Row step S212.
In this step, the point information that can use record determines its corresponding first laser figure in laser figure, by it
Compared with according to currently obtained second laser figure is scanned immediately, if it does, the point information weight of record can be determined the use of
It positions successfully, if the two mismatches, determines the use of the point information reorientation failure of record.
S212, judge whether robot connect with charging pile, if so, executing step S213, otherwise, execute step
S214。
It, can be according to whether detecting that charging signals judge whether robot connect with charging pile in this step.
S213, robot reorientation is carried out according to the location information of pre-set charging pile, process terminates.
When it is implemented, can determine the position of robot according to the location information of charging pile.
S214, judge locally whether be stored with visual document, if so, step S215 is executed, it is no to then follow the steps S218.
S215, control robot starting camera shoot current environment image.
In this step, it can control robot starting camera and rotate in place to acquire current ambient environmental image.Specifically
Ground can control robot according to certain time interval and carry out rotation and Image Acquisition, such as every 1s rotates 15 degree, every
3s acquires an image, is relocated using the image of acquisition.In this way, robot it is every acquisition one time 45 degree of image rotation, often
8 images can be acquired by rotating a circle, and can carry out 8 vision reorientations.
S216, the visual document for comparing current environment image and storage.
S217, robot reorientation is carried out according to comparison result, process terminates.
It, can be according to the map file or ambient image of the robot current environment image shot and storage in this step
File determines the current position of robot.
The prompt information that robot is connect by S218, display with charging pile.
In this step, following prompt information " connection robot and charging pile " can be shown, by popup web page to mention
Show that user carries out robot reorientation using charging pile.
S219, judge whether robot is locally stored with map file, if so, S220 is thened follow the steps, if it is not, then
Execute step S221.
The prompt information that S220, display map load fail, process terminate.
In this step, it can show that " map load failure, please contact management to following prompt information by popup web page
Member ", or voice prompting " map load failure, administrator please be contact " can also be passed through.
S221, display establish the prompt information of map, and process terminates.
In this step, it can show that following prompt information " currently without map, please use small routine by popup web page
Build figure ".Or voice prompting " currently without map, small routine please be use to build figure " can also be passed through.
The prompt information of S222, the not set charging pile of display.
In this step, it can show that " location information of not set charging pile, is asked following prompt information by popup web page
Connection administrator " is to prompt the location information of user setting charging pile.Or voice prompting " not set charging pile can also be passed through
Location information, administrator please be contact ".
In robot method for relocating provided in an embodiment of the present invention, by the point information of recorder people, in machine
After people is restarted, robot can be positioned according to the point information of the last time record.In the above process, without artificial
Intervention can realize that robot relocates, and so as to avoid the error that artificial marking position introduces, improve robot and reset
The accuracy of position, and the above method is not necessarily to rely on charging pile, to improve the flexibility of robot reorientation.
When it is implemented, can further judge that robot is currently if the robot point information not found
It is no to be connect with charging pile, if robot is connect with charging pile, can be relocated according to the location information of charging pile, such as
Fruit robot and charging pile are not connected, then can further control robot and rotate in place, and acquire current environment image, according to working as
Preceding ambient image and the visual document of storage are relocated, if not finding visual document, are mentioned by what the page was shown
Show information or voice prompting user " connecting robot with charging pile ", to be relocated.
It should be noted that robot method for relocating provided in an embodiment of the present invention can be by robot controller reality
It applies, which can be set in robot local, also can be set in server, is executed by it robot and restarts
Reorientation process later.
Based on the same inventive concept, a kind of robot relocation device is additionally provided in the embodiment of the present invention, due to above-mentioned
The principle that device solves the problems, such as is similar to robot method for relocating, therefore the implementation of above-mentioned apparatus may refer to the reality of method
It applies, overlaps will not be repeated.
As shown in figure 3, it is the structural schematic diagram of robot relocation device provided in an embodiment of the present invention, comprising:
Judging unit 31, for judging whether the robot connect with charging pile after robot starting；
Control unit 32 is used to then control the robot starting and image if it is determined that robot connect with charging pile
Head shooting current scene image；It is relocated according to the visual document of the current scene image and storage.
In a kind of possible embodiment, the visual document includes that the robot is built according to the ambient enviroment of scanning
The ambient image text of vertical map file and/or the robot captured ambient enviroment image composition during the motion
Part；And
Described control unit, specifically for comparing the current scene image and the map file and/or environment map of shooting
As file；It is relocated according to comparison result.
In a kind of possible embodiment, robot relocation device provided by the invention, further includes searching unit,
In:
The searching unit, for before judging whether the robot connect with charging pile, looking into after robot starting
The point information of the last robot record, described is looked for, the position that the point information includes at least the robot is believed
Breath and orientation information；
Described control unit, the point information for being also used to determine that basis is found carries out reorientation failure, or does not search
To point information.
In a kind of possible embodiment, described control unit, specifically for according to point information find, described
In include location information determine the position of the robot；And according to the court for including in the point information find, described
The posture of the robot is determined to information.
In a kind of possible embodiment, described control unit, specifically for according to the point information found and in advance
The laser figure first established determines the point information corresponding first laser figure in the laser figure；Control the robot
Second laser figure is obtained using laser scanning ambient enviroment；If the first laser figure and second laser figure matching,
It determines and is relocated successfully according to the point information found, otherwise, it determines according to the point information reorientation failure found.
In a kind of possible embodiment, robot relocation device provided by the invention, further includes:
Recording unit, the point information for real-time recorder people；Or the periodic recording robot according to setting
Point information；Or when the location information of robot changes, the point information of recorder people.
In a kind of possible embodiment, described control unit, if being also used to not find visual document or root
Reorientation failure is carried out according to the current scene image and the visual document of storage, then controls the robot display reminding letter
Breath, the prompt information is for prompting user to connect robot to relocate with charging pile.
In a kind of possible embodiment, described control unit is also used to if it is determined that the robot and charging pile
Connection, then the location information of the charging pile according to the pre-stored data is relocated.
For convenience of description, above each section is divided by function describes respectively for each module (or unit).Certainly, exist
Implement to realize the function of each module (or unit) in same or multiple softwares or hardware when the present invention.
After the robot method for relocating and device for describing exemplary embodiment of the invention, next, introducing
The control equipment of another exemplary embodiment according to the present invention.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
In some possible embodiments, control equipment according to the present invention can include at least at least one processing
Device and at least one processor.Wherein, the memory is stored with program code, when said program code is by the processing
When device executes, so that the processor executes the machine of the illustrative embodiments various according to the present invention of this specification foregoing description
Step in device people's method for relocating.For example, the processor can execute step S101 as shown in fig. 1A, in robot
After starting, judge whether the robot connect with charging pile, if so, step S102 is executed, if not, executing step
S103；Step S102, the location information of charging pile according to the pre-stored data is relocated, and process terminates；Step S103, it controls
Robot starts camera and shoots current scene image；Step S104, according to current scene image and the visual document of storage into
Row reorientation.
The control equipment 40 of this embodiment according to the present invention is described referring to Fig. 4.The control that Fig. 4 is shown is set
Standby 40 be only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 4, control equipment 40 is showed in the form of universal computing device.Control equipment 40 component may include
But it is not limited to: at least one above-mentioned processor 41, above-mentioned at least one processor 42, (including the storage of the different system components of connection
Device 42 and processor 41) bus 43.
Bus 43 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, processor or the local bus using any bus structures in a variety of bus structures.
Memory 42 may include the readable medium of form of volatile memory, such as random access memory (RAM) 421
And/or cache memory 422, it can further include read-only memory (ROM) 423.
Memory 42 can also include program/utility 425 with one group of (at least one) program module 424, this
The program module 424 of sample includes but is not limited to: operating system, one or more application program, other program modules and journey
It may include the realization of network environment in ordinal number evidence, each of these examples or certain combination.
Control equipment 40 can also be communicated with one or more external equipments 44 (such as keyboard, sensing equipment etc.), may be used also
Enable a user to equipment communication interact with control equipment 40 with one or more, and/or with enable the control equipment 40
Any equipment (such as router, modem etc.) communicated with one or more of the other calculating equipment communicates.This
Kind communication can be carried out by input/output (I/O) interface 45.Also, control equipment 40 can also pass through network adapter 46
With one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.
As shown, network adapter 46 is communicated by bus 43 with other modules for controlling equipment 40.It will be appreciated that though figure
In be not shown, can in conjunction with control equipment 40 use other hardware and/or software module, including but not limited to: microcode, equipment
Driver, redundant processor, external disk drive array, RAID system, tape drive and data backup storage system etc..
Control equipment provided in an embodiment of the present invention can be set in robot, also can be set in cloud server
In, the embodiment of the present invention is to this without limiting.
In some possible embodiments, the various aspects of robot method for relocating provided by the invention can also be real
It is now a kind of form of program product comprising program code, when described program product is run on the control device, the journey
The illustrative embodiments various according to the present invention that sequence code is used to that the control equipment to be made to execute this specification foregoing description
Step in robot method for relocating, for example, the control equipment can execute step S101 as shown in fig. 1A, in machine
After device people starting, judge whether the robot connect with charging pile, if so, step S102 is executed, if not, executing step
S103；Step S102, the location information of charging pile according to the pre-stored data is relocated, and process terminates；Step S103, it controls
Robot starts camera and shoots current scene image；Step S104, according to current scene image and the visual document of storage into
Row reorientation.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example may be-but not limited to-electricity, magnetic, optical, electromagnetic, red
The system of outside line or semiconductor, device or device, or any above combination.The more specific example of readable storage medium storing program for executing
(non exhaustive list) includes: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory
(RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The program product for robot reorientation of embodiments of the present invention can be read-only using portable compact disc
Memory (CD-ROM) and including program code, and can run on the computing device.However, program product of the invention is unlimited
In this, in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, which can be referred to
Enable execution system, device or device use or in connection.
Readable signal medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying
Readable program code.The data-signal of this propagation can take various forms, including --- but being not limited to --- electromagnetism letter
Number, optical signal or above-mentioned any appropriate combination.Readable signal medium can also be other than readable storage medium storing program for executing it is any can
Read medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Program in connection.
The program code for including on readable medium can transmit with any suitable medium, including --- but being not limited to ---
Wirelessly, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind --- including local area network (LAN) or extensively
Domain net (WAN)-be connected to user calculating equipment, or, it may be connected to external computing device (such as utilize Internet service
Provider is connected by internet).
It should be noted that although being referred to several unit or sub-units of device in the above detailed description, this stroke
It point is only exemplary not enforceable.In fact, embodiment according to the present invention, it is above-described two or more
The feature and function of unit can embody in a unit.Conversely, the feature and function of an above-described unit can
It is to be embodied by multiple units with further division.
In addition, although describing the operation of the method for the present invention in the accompanying drawings with particular order, this do not require that or
Hint must execute these operations in this particular order, or have to carry out shown in whole operation be just able to achieve it is desired
As a result.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or by one
Step is decomposed into execution of multiple steps.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of robot method for relocating characterized by comprising
After robot starting, judge whether the robot connect with charging pile；
If it is determined that robot is not connect with charging pile, then the robot starting camera shooting current scene image is controlled；
It is relocated according to the visual document of the current scene image and storage.
2. the method as described in claim 1, which is characterized in that the visual document includes week of the robot according to scanning
The environment of the map file and/or the robot that collarette border is established captured ambient enviroment image composition during the motion
Image file；And
It is relocated, is specifically included according to the visual document of the current scene image and storage:
Compare the current scene image and the map file and/or ambient image file of shooting；
It is relocated according to comparison result.
3. the method as described in claim 1, which is characterized in that robot starting after, judge the robot whether with fill
Before electric stake connection, further includes:
The point information of the last robot record, described is searched, the point information includes at least the robot
Location information and orientation information；
It determines and reorientation failure is carried out according to the point information found, or do not find point information.
4. method as claimed in claim 3, which is characterized in that according to following below scheme judgement according to the point information weight found
Whether positioning fails:
According to the point information found and the laser figure pre-established, determine that the point information is corresponding in the laser figure
First laser figure；
It controls the robot and obtains second laser figure using laser scanning ambient enviroment；
If the first laser figure and the second laser figure matching, it is determined that according to find point information reorientation at
Function, otherwise, it determines according to the point information reorientation failure found.
5. the method as described in claim 1, which is characterized in that if not finding visual document or working as front court according to described
Scape image and the visual document of storage carry out reorientation failure, further includes:
Control the robot display reminding information, the prompt information for prompt user to connect robot with charging pile with
It is relocated.
6. the method as described in Claims 1 to 5 any claim, which is characterized in that further include:
If it is determined that the robot is connect with charging pile, then the location information of the charging pile according to the pre-stored data carries out weight
Positioning.
7. a kind of robot relocation device characterized by comprising
Judging unit, for judging whether the robot connect with charging pile after robot starting；
Control unit is used to then control the robot starting camera and shoot if it is determined that robot connect with charging pile
Current scene image；It is relocated according to the visual document of the current scene image and storage.
8. a kind of control equipment, which is characterized in that including at least one processor and at least one processor, wherein described
Memory is stored with computer program, when described program is executed by the processor, so that the processor perform claim is wanted
The step of seeking 1~6 any claim the method.
9. a kind of robot, which is characterized in that including control equipment according to any one of claims 8.
10. a kind of computer-readable medium, which is characterized in that it is stored with the computer program that can be executed by control equipment, works as institute
When stating program and running on the control device, so that the step of control equipment perform claim requires 1~6 any the method.
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| CN201910247801.0A CN109993794A (en) | 2019-03-29 | 2019-03-29 | A kind of robot method for relocating, device, control equipment and storage medium |
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