CN110134117A - A kind of mobile robot method for relocating, mobile robot and electronic equipment - Google Patents
A kind of mobile robot method for relocating, mobile robot and electronic equipment Download PDFInfo
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- CN110134117A CN110134117A CN201810126863.1A CN201810126863A CN110134117A CN 110134117 A CN110134117 A CN 110134117A CN 201810126863 A CN201810126863 A CN 201810126863A CN 110134117 A CN110134117 A CN 110134117A
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- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000013480 data collection Methods 0.000 claims abstract description 150
- 230000008569 process Effects 0.000 claims description 21
- 238000005070 sampling Methods 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000003062 neural network model Methods 0.000 description 7
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- 238000004364 calculation method Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The application provides a kind of mobile robot method for relocating, mobile robot and electronic equipment.Wherein, which includes: that control mobile robot is moved to a scheduled reference position；Destination image data collection is acquired using the image capture device of the mobile robot；The each reference data for being included from preset property data base is concentrated, the determining object reference data collection to match with destination image data collection；Each reference data set are as follows: when the mobile robot has location information, in scheduled each reference position acquired image data set；By target association coordinate corresponding to object reference data collection, it is determined as the coordinate that mobile robot is presently in position；Target association coordinate is the coordinate of reference position corresponding to the object reference data collection.The reorientation of mobile robot can be fast and effeciently realized by this programme.
Description
Technical field
This application involves mobile robot field, in particular to a kind of mobile robot method for relocating, mobile robot
And electronic equipment.
Background technique
Mobile robot is the automatic installations for executing work, can not only receive mankind commander, but also can run pre-
The program of first layout, can also be according to principle program action formulated with artificial intelligence technology.The task of current mobile robot
It is to assist or replace human work, such as production industry, construction industry, or dangerous work.
Mobile robot can construct the map about place scene by developing algorithm according to the map, and then based on constructed
Map carry out location-based work.But in some cases, there is the demand of reorientation in mobile robot, wherein
So-called reorientation, which refers to, to be put into mobile robot at random in known map environment, and mobile robot can find oneself in map
Coordinate.For example: when mobile robot is restarted after shut down, can there is reorientation demand.
So, the reorientation for how fast and effeciently realizing mobile robot is a urgent problem to be solved.
Summary of the invention
In view of this, the application provides a kind of mobile robot method for relocating, mobile robot and electronic equipment, with fast
Speed effectively realizes the reorientation of mobile robot.
Specifically, the application is achieved by the following technical solution:
In a first aspect, the embodiment of the present application provides a kind of mobile robot method for relocating, comprising:
Control mobile robot is moved to a scheduled reference position；
Destination image data collection is acquired using the image capture device of the mobile robot；
The each reference data for being included from preset property data base is concentrated, determination and the destination image data collection phase
Matched object reference data collection；Wherein, each reference data set are as follows: when the mobile robot has location information, pre-
Fixed each reference position acquired image data set；
By target association coordinate corresponding to the object reference data collection, it is determined as the mobile robot and is presently in
The coordinate of position；Wherein, the target association coordinate is the coordinate of reference position corresponding to the object reference data collection.
Optionally, each reference position are as follows:
Each angular position of target scene where the mobile robot.
Optionally, the step of control mobile robot is moved to a scheduled reference position, comprising:
Distance measuring sensor and gyroscope based on the mobile robot, control mobile robot are moved to a scheduled folder
Angle Position.
Optionally, the distance measuring sensor and gyroscope based on the mobile robot, control mobile robot are mobile
The step of to a scheduled angular position, comprising:
Control mobile robot rotates in place predetermined angular, and in rotary course, utilizes the survey of the mobile robot
Data sampling is carried out away from sensor and gyroscope, obtains range data collection and angle-data collection；
Based on the range data collection and angle-data collection, sampled point each in data sampling process is transformed into two-dimentional seat
Under mark system, and based on each sampled point in the two-dimensional coordinate system, fitting obtains at least one in the two-dimensional coordinate system
Straight line；
Any linear movement that the mobile robot is obtained along fitting is controlled, when detecting the mobile robot by mesh
When marking barrier blocking advance, the mobile robot is adjusted to target position, the target position are as follows: hinder with the target
Hinder object away from the first distance and the position with barrier corresponding to the straight line away from the second distance.
Optionally, each reference position are as follows:
With each position of the first auxiliary signal equipment at a predetermined distance；
Alternatively,
So that the second auxiliary signal equipment receives each position of the network signal of predetermined strength value；Wherein, the network
Signal is issued by the mobile robot.
Optionally, the step of image capture device using the mobile robot acquires destination image data collection,
Include:
It controls the mobile robot and rotates in place predetermined deflection angle, after rotating to predetermined deflection angle, utilize
The image capture device of the mobile robot acquires image data, constructs destination image data based on acquired image data
Collection.
Optionally, the step of image capture device using the mobile robot acquires destination image data collection,
Include:
It controls the mobile robot and successively rotates in place multiple and different predetermined deflection angles, rotating to one every time
After a predetermined deflection angle, image data is acquired using the image capture device of the mobile robot, based on collected each
A image data constructs destination image data collection.
Optionally, mobile robot method for relocating provided by the embodiment of the present application further include:
When meeting predetermined replacement condition, replaced in the property data base using the destination image data collection described in
Object reference data collection.
Second aspect, the embodiment of the present application provide a kind of mobile robot, comprising:
Mobile control unit is moved to a scheduled reference position for controlling mobile robot；
Data set obtaining unit, for acquiring destination image data using the image capture device of the mobile robot
Collection；
Object reference data collection determination unit, each reference data set for being included from preset property data base
In, the determining object reference data collection to match with the destination image data collection；Wherein, each reference data set are as follows: described
When mobile robot has location information, in scheduled each reference position acquired image data set；
Coordinate determination unit, it is described for being determined as target association coordinate corresponding to the object reference data collection
Mobile robot is presently in the coordinate of position；Wherein, the target association coordinate is corresponding to the object reference data collection
The coordinate of reference position.
Optionally, each reference position are as follows:
Each angular position of target scene where the mobile robot.
Optionally, the mobile control unit is specifically used for:
Distance measuring sensor and gyroscope based on the mobile robot, control mobile robot are moved to a scheduled folder
Angle Position.
Optionally, the mobile control unit is specifically used for:
Control mobile robot rotates in place predetermined angular, and in rotary course, utilizes the survey of the mobile robot
Data sampling is carried out away from sensor and gyroscope, obtains range data collection and angle-data collection；
Based on the range data collection and angle-data collection, sampled point each in data sampling process is transformed into two-dimentional seat
Under mark system, and based on each sampled point in the two-dimensional coordinate system, fitting obtains at least one in the two-dimensional coordinate system
Straight line；
Any linear movement that the mobile robot is obtained along fitting is controlled, when detecting the mobile robot by mesh
When marking barrier blocking advance, the mobile robot is adjusted to target position, the target position are as follows: hinder with the target
Hinder object away from the first distance and the position with barrier corresponding to the straight line away from the second distance.
Optionally, each reference position are as follows:
With each position of the first auxiliary signal equipment at a predetermined distance；
Alternatively,
So that the second auxiliary signal equipment receives each position of the network signal of predetermined strength value；Wherein, the network
Signal is issued by the mobile robot.
Optionally, the data set obtaining unit is specifically used for:
It controls the mobile robot and rotates in place predetermined deflection angle, after rotating to predetermined deflection angle, utilize
The image capture device of the mobile robot acquires image data, constructs destination image data based on acquired image data
Collection.
Optionally, the data set obtaining unit is specifically used for:
It controls the mobile robot and successively rotates in place multiple and different predetermined deflection angles, rotating to one every time
After a predetermined deflection angle, image data is acquired using the image capture device of the mobile robot, based on collected each
A image data constructs destination image data collection.
Optionally, mobile robot provided by the embodiment of the present application further include:
Substitute unit, for replacing the feature using the destination image data collection when meeting predetermined replacement condition
The object reference data collection in database.
The third aspect, the embodiment of the present application provide a kind of electronic equipment, comprising: internal bus, memory, processor and
Communication interface；Wherein, the processor, the communication interface, the memory are completed each other by the internal bus
Communication；Wherein, the memory, for storing the feasible instruction of the corresponding machine of mobile robot method for relocating；
The processor for reading the machine readable instructions on the memory, and executes described instruction with reality
Mobile robot method for relocating provided by existing above-mentioned first aspect.
In method provided by the embodiment of the present application, after control mobile robot is moved to a scheduled reference position,
Destination image data collection is acquired using the image capture device of the mobile robot；Included from default property data base is each
Reference data is concentrated, the determining object reference data collection to match with the destination image data collection determines the mobile robot
It is currently moved to which specific reference position, and then by target association coordinate corresponding to the object reference data collection, is determined as
The mobile robot is presently in the coordinate of position.As it can be seen that can fast and effeciently realize mobile robot by this programme
Reorientation.
Detailed description of the invention
Fig. 1 is a kind of flow chart of mobile robot method for relocating provided by the embodiment of the present application；
Fig. 2 (a) is to be formed by coordinate schematic diagram under converting each sampled point to two-dimensional coordinate system, Fig. 2 (b) be based on
The schematic diagram at least one straight line that coordinate points shown by Fig. 2 (a) are fitted；
Fig. 3 (a) is the top view in room where mobile robot, and Fig. 3 (b) is the grid in room where mobile robot
The schematic diagram of figure, Fig. 3 (c) are the schematic diagram that mobile robot is moved to angular position corresponding to included angle A；
Fig. 4 is a kind of structural schematic diagram of mobile robot provided by the embodiment of the present application；
Fig. 5 is the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
In order to fast and effeciently realize the reorientation of mobile robot, the embodiment of the present application provides a kind of mobile robot
Method for relocating, mobile robot and electronic equipment.
A kind of mobile robot method for relocating provided by the embodiment of the present application is introduced first below.
It should be noted that a kind of executing subject of mobile robot method for relocating provided by the embodiment of the present application can
Think a kind of mobile robot relocation device.In a particular application, which can run on shifting
It in mobile robot, can also run in the corresponding Cloud Server of mobile robot, the movement machine can also be run on certainly
In client device corresponding to people, this is all reasonable.
Wherein, the trigger condition of reorientation can be with are as follows: restarts after shutdown, alternatively, map reference caused by other reasons is lost
It loses, alternatively, receiving the repositioning instruction, etc. that user specifies.Also, mobile robot is before the reorientation of target scene
Mentioning is: the map about the target scene is constructed previously according to map structuring algorithm, in this way, the mobile robot is relocating
It can have location information before, and then the mobile robot relocation device can construction feature database and will be special in advance
Sign database is associated with coordinate.It is understood that any map structuring algorithm can be applied to the target scene
Map structuring process, since map structuring process is not related to the inventive point of the embodiment of the present application, it is not limited here.
In addition, target scene involved in the application can be indoor scene, such as: indoor furniture, underground parking, office
The regions such as building.Certainly, target scene involved in the application can be not limited to indoor scene, such as open parking ground, park, factory
The small-sized outdoor scene such as area can also apply method provided herein.As shown in Figure 1, a kind of mobile robot reorientation
Method may include:
S101, control mobile robot are moved to a scheduled reference position；
In order to fast and effeciently realize the reorientation of mobile robot, reorientation thought proposed in the embodiment of the present application
Are as follows: mobile robot relocation device control mobile robot is moved to any reference position, is then based on image data set
Analyze which reference position any reference position is specifically, and then determines that coordinate completes reorientation.Thought based on this kind processing
Think, when the mobile robot relocation device, which detects, meets reorientation condition, can control mobile robot be moved to it is pre-
A fixed reference position, and then execute subsequent image acquisition process, wherein a scheduled reference position is scheduled multiple
Any reference position in reference position.
It is emphasized that each reference position is the position that does not depend on cartographic information and can determine that.In concrete application
In, the concrete form of each reference position is below illustrated the concrete form of each reference position there are a variety of.
Optionally, in a kind of specific implementation, each reference position are as follows: target scene where the mobile robot
Each angular position.Wherein, for the dimension of angular dimension, angle corresponding to the angular position can for perpendicular type or
Non-right angle；And for the dimension that angle is constituted, angle corresponding to angular position can be made of wall, by non-wall structure
At alternatively, being made of wall and non-wall, this is all reasonable.For example, referring to room top view shown in Fig. 3 (a),
There are angular position A, B, C, D and E in the figure, then, the predetermined reference position that mobile robot is moved to can be angle
Any angular position in position A, B, C, D and E.
Wherein, when each reference position are as follows: where the mobile robot when each angular position of target scene, the shifting
Mobile robot relocation device can distance measuring sensor and gyroscope based on the mobile robot, control mobile robot move
It moves to a scheduled angular position, is not limited thereto certainly.Specifically, distance measuring sensor and top based on the mobile robot
Spiral shell instrument, control mobile robot are moved to the process of a scheduled angular position, may include:
Control mobile robot rotates in place predetermined angular, and in rotary course, utilizes the ranging of the mobile robot
Sensor and gyroscope carry out data sampling, obtain range data collection and angle-data collection；
Based on the range data collection and angle-data collection, sampled point each in data sampling process is transformed into two-dimensional coordinate
Under system, and based on each sampled point in the two-dimensional coordinate system, fitting obtains at least one straight line in the two-dimensional coordinate system；
The mobile robot is controlled along the obtained any linear movement of fitting, when detecting that the mobile robot hindered by target
When hindering object to block to advance, which is adjusted to target position, the target position are as follows: with the target obstacle at a distance of the
One distance and the position with barrier corresponding to the straight line away from the second distance.
Wherein, the angle of the distance and angle-data concentration concentrated based on the range data has unique correspondence.Also,
Based on the range data collection and angle-data collection, each sampled point collected in data sampling process is transformed into two-dimentional seat
Specific implementation under mark system can use any conversion regime in the prior art；And based in the two-dimensional coordinate system
Each sampled point, the specific implementation that fitting obtains at least one straight line in the two-dimensional coordinate system can also use existing skill
Any straight line fitting mode in art.For example, each sampled point data sampling obtained is transformed into two-dimensional coordinate system
Under be formed by coordinate schematic diagram and may refer to Fig. 2 (a), correspondingly, being fitted at least based on the coordinate points in Fig. 2 (a)
The schematic diagram of straight line may refer to Fig. 2 (b).
It is understood that the straight line that fitting obtains is obstacles borders, the mobile robot is controlled along any straight
Line is mobile, that is, controls the mobile robot and move along a certain obstacles borders, when detecting that the mobile robot hindered by target
When object being hindered to block advance, i.e., it can not continue to move along, it is possible to determine that the mobile robot is already close to angle；And due to close
The position of angle there are multiple and reference position has uniqueness, when determining the mobile robot close to angle, can be based on
Distance measuring sensor adjusts the mobile robot to target position, the target position are as follows: with the target obstacle at a distance of first away from
From and with the position of barrier away from the second distance corresponding to the straight line.Wherein, predetermined angular can be set according to concrete application
Fixed, for example, which can be 360 degree, 300 degree, 240 degree, and 180 degree etc.；Likewise, first distance and second
Distance can be set according to concrete application, and first distance and second distance can be set to identical value, so that moving machine
No matter device people can determine unique angular position from which direction close to angle.
Optionally, in another specific implementation, which can be with are as follows: with the first auxiliary signal equipment phase
Each position away from preset distance.Correspondingly, the step of control mobile robot is moved to a scheduled reference position, it can
To include: that control mobile robot is mobile according to desired trajectory, in moving process, the mobile robot and the first auxiliary are monitored
The distance between signalling arrangement is determined when monitoring the mobile robot and the first auxiliary signal equipment at a predetermined distance
The mobile robot is moved to a scheduled reference position, i.e. a position with the first auxiliary signal equipment at a predetermined distance
It sets.
It is understood that the mobile robot can have Bluetooth function, then, which can be with
For with the fixed equipment of Bluetooth function and position, the first auxiliary signal equipment present position and position locating for mobile robot
The distance between setting can be determined by bluetooth distance.Alternatively, the mobile robot may include signal projector, then,
The first auxiliary signal equipment can be signal receiver, locating for the first auxiliary signal equipment present position and mobile robot
The distance between position can be determined by signal transmission time.Wherein, the type of signal projector and signal receiver can
To include but is not limited to optical type or acoustic type；Also, the desired trajectory can be by mobile robot relocation device
It sets at random or according to set by special algorithm, this is all reasonable.
Optionally, in another specific implementation, which can be with are as follows: so that the second auxiliary signal equipment
Receive each position of the network signal of predetermined strength value；Wherein, which is issued by the mobile robot.Accordingly
, the step of control mobile robot is moved to a scheduled reference position may include: control mobile robot according to
Desired trajectory is mobile, and in moving process, the second auxiliary signal equipment of monitoring receives the intensity value of network signal, when second auxiliary
When the intensity value for the network signal for helping signalling arrangement to receive is predetermined strength value, it is scheduled to determine that the mobile robot is moved to
One reference position, i.e., so that the second auxiliary signal equipment receives a position of the network signal of predetermined strength value.
Wherein, which is the equipment that with radio access module and position is fixed；And the moving machine
Device people can have wifi detector, in this way, the mobile robot can form wireless network by the wifi detector, and visit
Survey the intensity for the network signal that the second auxiliary signal equipment receives.It is understood that wifi detection implement body can be with
For wifi probe in the prior art, wherein wifi probe is existing for detecting setting for the wifi terminal in ambient enviroment
It is standby, basic functional principle are as follows: creation wifi hotspot collects the information for the terminal that can access in ambient enviroment, such as: Wei Yibiao
Know information, wifi signal strength indication, wifi signal duration etc., wherein it is understood that unique mark of wifi terminal
Knowing information can be MAC (Media Access Control, media access control) address, and being particularly shown for wifi detector can
To be not limited to WiFi probe.
It should be noted that the concrete form of above-mentioned given each reference position is merely exemplary, should not
Constitute the restriction to the embodiment of the present application.
S102 acquires destination image data collection using the image capture device of the mobile robot；
It wherein, can after mobile robot relocation device control mobile robot is moved to a scheduled reference position
To acquire destination image data collection using the image capture device of the mobile robot, so it is subsequent based on the destination image data
Which reference position a set analysis scheduled reference position is specially.Wherein, which is specifically as follows camera shooting
Head is not limited thereto certainly.
Optionally, in a kind of specific implementation, the image capture device using the mobile robot acquires mesh
The step of logo image data set, may include:
It controls the mobile robot and rotates in place predetermined deflection angle, after rotating to predetermined deflection angle, utilize this
The image capture device of mobile robot acquires image data, constructs destination image data collection based on acquired image data.
In this kind of specific implementation, after which rotates in situ predetermined deflection angle, figure can be passed through
As acquisition equipment acquires an at least picture, alternatively, at least one section of video can be recorded by image capture device, and then by institute
The content of a collected at least picture or at least one section of video as destination image data collection.Also, the predetermined deflection angle
Degree is the angle deviated based on reference direction, wherein the reference direction can be set according to concrete application, the predetermined deflection angle
Specific angle value can also be set according to concrete application.It is understood that in a particular application, it can be according to indoor arrangement
Predetermined deflection angle is determined, so that it includes Item Information more abundant that the collected destination image data of institute, which is concentrated,.
Optionally, in another specific implementation, the image capture device using the mobile robot is acquired
The step of destination image data collection, may include:
It controls the mobile robot and successively rotates in place multiple and different predetermined deflection angles, rotating to one every time
After predetermined deflection angle, image data is acquired using the image capture device of the mobile robot, based on collected each
Image data constructs destination image data collection.
In this kind of specific implementation, which is rotated in place every time to after a predetermined deflection angle, can
To acquire an at least picture by image capture device, alternatively, at least one section of video can be recorded by image capture device,
In turn, using an at least picture or at least one section of video corresponding to collected each predetermined deflection angle as target figure
As the content of data set, at this point, the destination image data collection is corresponding with the data content of multiple angles.Also, it is any predetermined inclined
Gyration is the angle deviated based on reference direction, wherein the reference direction can be set according to concrete application, multiple and different
Predetermined deflection angle can be set according to concrete application.
S103, each reference data for being included from preset property data base are concentrated, the determining and destination image data
Collect the object reference data collection to match；Wherein, each reference data set are as follows: when the mobile robot has location information,
Scheduled each reference position acquired image data set；
It should be noted that before the relocation, which can preparatory construction feature data
Library includes multiple reference data sets in this feature database.It, can be from preset feature after obtaining the destination image data collection
Each reference data that database is included is concentrated, the determining object reference data collection to match with the destination image data collection.
It is understood that for construction feature database, when mobile robot has location information, mobile robot reorientation dress
Setting can control mobile robot and is moved to each reference position, and acquire reference data set in each reference position, wherein
The specific implementation that mobile robot relocation device control mobile robot is moved to each reference position may refer to
The control mobile robot stated is moved to the specific implementation of a scheduled reference position.Also, in order to guarantee target image
The matching of data set and each reference data set is effective, acquires target image number using the image capture device of the mobile robot
It is identical according to the specific implementation of collection and the specific acquisition mode of each reference data set.
Wherein, each reference data for being included from preset property data base is concentrated, the determining and destination image data
Collect the specific implementation of object reference data collection that matches there are a variety of, such as: it is based on similarity, Feature Points Matching quantity
Or the modes such as neural network model determine.And in order to scheme understand and be laid out it is clear, it is subsequent that specific implementation is lifted
Example is introduced.
Target association coordinate corresponding to the object reference data collection is determined as the current institute of the mobile robot by S104
Locate the coordinate of position；Wherein, which is the coordinate of reference position corresponding to the object reference data collection.
Wherein, in construction feature database, can by the coordinate of each reference data set and corresponding reference position into
Row association, that is, predefine associated coordinates corresponding to each reference data set.In this way, determining object reference data collection
Afterwards, it can be determined as the mobile robot directly by target association coordinate corresponding to the object reference data collection and be presently in
The coordinate of position, to complete the reorientation of the mobile robot.
It should be noted that causing matching degree to continue to decline in order to avoid long-term scene change by a small margin, to mention
High algorithm stability, method provided by the embodiment of the present application can also include:
When meeting predetermined replacement condition, the target in this feature database is replaced using the destination image data collection and is joined
Examine data set.
Wherein, which can be with are as follows: reaches predetermined point of time；Substitute instruction alternatively, obtaining.
Certainly, which may be: with the object reference data collection and the destination image data collection
With the relevant condition of degree.For example: so-called matching degree can be similarity, correspondingly, the predetermined replacement condition can be with are as follows:
This similarity declines relative to last similarity, alternatively, this similarity is lower than predetermined similarity threshold, etc.
Deng；Alternatively, so-called matching degree can be characterized a number of matches, the corresponding predetermined replacement condition can be with are as follows: this spy
Sign point number of matches declines relative to last Feature Points Matching quantity, alternatively, this Feature Points Matching quantity is lower than pre-
Determine amount threshold, etc..
It is emphasized that above-mentioned given predetermined replacement condition is merely exemplary, should not constitute to this Shen
Please embodiment restriction.
In method provided by the embodiment of the present application, after control mobile robot is moved to a scheduled reference position,
Destination image data collection is acquired using the image capture device of the mobile robot；Included from default property data base is each
Reference data is concentrated, the determining object reference data collection to match with the destination image data collection determines the mobile robot
It is currently moved to which specific reference position, and then by target association coordinate corresponding to the object reference data collection, is determined as
The mobile robot is presently in the coordinate of position.As it can be seen that can fast and effeciently realize mobile robot by this programme
Reorientation.
Understand to be laid out clear and scheme, below to each reference data set for being included from preset property data base
In, the specific implementation of the determining object reference data collection to match with the destination image data collection carries out citing introduction:
Optionally, in a kind of specific implementation, each reference data set for being included from preset property data base
In, the step of the determining object reference data collection to match with the destination image data collection, may include:
Calculate separately the similarity of the destination image data collection and each reference data set；
Using the highest reference data set of corresponding similarity as the object reference to match with the destination image data collection
Data set.
It is understood that calculating should when destination image data collection and each reference data set include a picture
Destination image data collection and the detailed process of the similarity of any reference data set may include:
Calculate the similarity of the included picture of destination image data collection and the included picture of the reference data set；
Using the similarity being calculated as the similarity of the destination image data collection and the reference data set.
When destination image data collection and each reference data set include at least two picture, the target image number is calculated
May include: according to collection and the detailed process of the similarity of any reference data set
Calculate the phase of at least two pictures and each picture of the reference data set that the destination image data collection is included
Like degree；
Using calculated highest similarity as the similarity of the destination image data collection and the reference data set, or
Person, using calculated similarity mean value as the similarity of the destination image data collection and the reference data set.
When destination image data collection and each reference data set include at least one section of video, the target image number is calculated
May include: according to collection and the detailed process of the similarity of any reference data set
Calculate each video frame and the included video of the reference data set in the included video of destination image data collection
In each video frame similarity；
Using calculated highest similarity as the similarity of the destination image data collection and the reference data set, or
Person, using calculated similarity mean value as the similarity of the destination image data collection and the reference data set.
It is understood that the calculation of the similarity of any two picture can be any similarity in the prior art
Calculation.
Optionally, in a kind of specific implementation, each reference data set for being included from preset property data base
In, the step of the determining object reference data collection to match with the destination image data collection, may include:
Extract the first kind image characteristic point of the included picture of destination image data collection or video frame；
By first kind image characteristic point the second class image with the included picture of each reference data set or video frame respectively
Characteristic point is matched；
Using the highest reference data set of number of matches as the object reference data to match with the destination image data collection
Collection.
It is understood that image characteristic point is able to reflect image substantive characteristics, target object in image can be identified, is led to
The matching for crossing characteristic point can complete the matching of image.Wherein, which can use ORB
(Oriented FAST and Rotated BRIEF) algorithm extracts image characteristic point, is not limited thereto certainly.Wherein,
The ORB is a kind of algorithm that rapid characteristic points are extracted and described.
Optionally, in another specific implementation, each reference data for being included from preset property data base
The step of concentration, the determining object reference data collection to match with the destination image data collection, may include:
Based on neural network model trained in advance, each reference data set for being included from preset property data base
In, the determining object reference data collection to match with the destination image data collection.
Wherein, neural network model can be convolutional neural networks model, Recognition with Recurrent Neural Network model etc..
It is understood that can use a large amount of scene picture with object names label to neural network model into
Row training, after the completion of training, which can identify that the picture being input in the neural network model is included
Object.In this way, the mobile robot relocation device can determine destination image data collection by the neural network model
The object for being included, if the destination image data collection object that is included is identical as the object that a reference data set is included and object
The location of pixels amplitude of variation that body occupies in picture be lower than predetermined amplitude threshold value when, can using the reference data set as with this
The object reference data collection that destination image data collection matches.
It should be noted that it is above-mentioned included from preset property data base each reference data concentrate, determine with
The specific implementation for the object reference data collection that the destination image data collection matches is merely exemplary, should not constitute
Restriction to the embodiment of the present application.
Below with reference to specific application example, it is situated between to mobile robot method for relocating provided by the embodiment of the present application
It continues.
Assuming that target scene where mobile robot is a room, there are five reference positions for room tool, are respectively as follows: angle
Position A, B, C, D and E, each reference position and corresponding angle border L, also, due north is the benchmark of mobile robot
Direction, i.e. due north are 0 degree.Wherein, the top view in the room may refer to Fig. 3 (a), wherein upper left black in Fig. 3 (a)
Rectangular area is for indicating a barrier, and same Fig. 3 (b) and upper left black rectangle region in Fig. 3 (c) are for indicating one
Barrier.In addition, the M in the Fig. 3 (a) indicates mobile robot, 01 indicates the image capture device of mobile robot.
In order to realize reorientation, Primary Stage Data treatment process is as follows:
Developing algorithm constructs the map about the room to mobile robot according to the map, so that mobile robot has
Location information, grid map shown in Fig. 3 (b) are the map in the room constructed by mobile robot.Have in mobile robot
When having location information, mobile robot relocation device can be based on distance measuring sensor and gyroscope, and control mobile robot is moved
It moves to each angular position and controls the mobile robot when reaching each angular position and rotate in place, rotate to deflection angle
After θ, image data is acquired using image capture device, constitutes reference data set, wherein the image data of acquisition is a figure
Piece.Wherein, angle edge of each angular position apart from corresponding angle is L.
Also, the map based on the room is it is found that when mobile robot is moved to angular position A, locating for mobile robot
Coordinate be (X0, Yn), therefore, the reference data set that mobile robot can be acquired angular position A at and coordinate (X0,
Yn it) is associated, i.e. the associated coordinates of reference data set corresponding to angular position A are (X0, Yn).Similarly, angle position is determined
Set the associated coordinates of reference data set corresponding to B, C, D and E.
Based on Primary Stage Data treatment process, repositioning process is as follows:
When needing to relocate, which is based on distance measuring sensor and gyroscope, control movement
Robot is moved to a scheduled angular position: angular position A, as shown in Fig. 3 (c).
Mobile robot relocation device controls the mobile robot and rotates in place deflection angle θ, utilizes the moving machine
The image capture device of device people acquires image data, constructs destination image data collection based on acquired image data；Wherein, it adopts
The image data of collection is a picture, which may refer to FA shown in Fig. 3 (c).
Mobile robot relocation device calculates the included picture of destination image data collection and each reference data set institute
Similarity comprising picture；
Associated coordinates corresponding to the highest reference data set of similarity are determined that the mobile robot is presently in position
Coordinate i.e. (X0, Yn) complete the reorientation of the mobile robot.
As it can be seen that can fast and effeciently realize the reorientation of mobile robot by the scheme in the specific embodiment.
Corresponding to above method embodiment, the embodiment of the present application also provides a kind of mobile robots.As shown in figure 4, should
Mobile robot may include:
Mobile control unit 410 is moved to a scheduled reference position for controlling mobile robot；
Data set obtaining unit 420, for acquiring target image number using the image capture device of the mobile robot
According to collection；
Object reference data collection determination unit 430, each reference data for being included from preset property data base
It concentrates, the determining object reference data collection to match with the destination image data collection；Wherein, each reference data set are as follows: institute
When stating mobile robot with location information, in scheduled each reference position acquired image data set；
Coordinate determination unit 440, for being determined as institute for target association coordinate corresponding to the object reference data collection
State the coordinate that mobile robot is presently in position；Wherein, the target association coordinate is right for the object reference data collection
Answer the coordinate of reference position.
Mobile robot provided by the embodiment of the present application is moved to a scheduled reference position in control mobile robot
Afterwards, destination image data collection is acquired using the image capture device of the mobile robot；Included from default property data base
Each reference data is concentrated, the determining object reference data collection to match with the destination image data collection determines the moving machine
Device people is currently moved to which specific reference position, and then by target association coordinate corresponding to the object reference data collection, really
It is set to the coordinate that the mobile robot is presently in position.As it can be seen that can fast and effeciently realize mobile machine by this programme
The reorientation of people.
Optionally, each reference position are as follows:
Each angular position of target scene where the mobile robot.
Optionally, the mobile control unit is specifically used for:
Distance measuring sensor and gyroscope based on the mobile robot, control mobile robot are moved to a scheduled folder
Angle Position.
Optionally, the mobile control unit 410 is specifically used for:
Control mobile robot rotates in place predetermined angular, and in rotary course, utilizes the survey of the mobile robot
Data sampling is carried out away from sensor and gyroscope, obtains range data collection and angle-data collection；
Based on the range data collection and angle-data collection, sampled point each in data sampling process is transformed into two-dimentional seat
Under mark system, and based on each sampled point in the two-dimensional coordinate system, fitting obtains at least one in the two-dimensional coordinate system
Straight line；
Any linear movement that the mobile robot is obtained along fitting is controlled, when detecting the mobile robot by mesh
When marking barrier blocking advance, the mobile robot is adjusted to target position, the target position are as follows: hinder with the target
Hinder object away from the first distance and the position with barrier corresponding to the straight line away from the second distance.
Optionally, each reference position are as follows:
With each position of the first auxiliary signal equipment at a predetermined distance；
Alternatively,
So that the second auxiliary signal equipment receives each position of the network signal of predetermined strength value；Wherein, the network
Signal is issued by the mobile robot.
Optionally, the data set obtaining unit 420 is specifically used for:
It controls the mobile robot and rotates in place predetermined deflection angle, after rotating to predetermined deflection angle, utilize
The image capture device of the mobile robot acquires image data, constructs destination image data based on acquired image data
Collection.
Optionally in the data set obtaining unit 420 is specifically used for:
It controls the mobile robot and successively rotates in place multiple and different predetermined deflection angles, rotating to one every time
After a predetermined deflection angle, image data is acquired using the image capture device of the mobile robot, based on collected each
A image data constructs destination image data collection.
Optionally, which can also include:
Substitute unit, for replacing the feature using the destination image data collection when meeting predetermined replacement condition
The object reference data collection in database.
Corresponding to above method embodiment, the embodiment of the present application also provides a kind of electronic equipment；As shown in figure 5, described
Electronic equipment includes: internal bus 510, memory (memory) 520, processor (processor) 530 and communication interface
(Communications Interface)540；Wherein, the processor 530, the communication interface 540, the memory
520 complete mutual communication by the internal bus 510；
Wherein, the memory 520, for storing the feasible instruction of the corresponding machine of mobile robot method for relocating；
The processor 530 for reading the machine readable instructions on the memory 520, and executes the finger
It enables to realize a kind of mobile robot method for relocating provided herein.Wherein, a kind of mobile robot method for relocating,
May include:
Control mobile robot is moved to a scheduled reference position；
Destination image data collection is acquired using the image capture device of the mobile robot；
The each reference data for being included from preset property data base is concentrated, determination and the destination image data collection phase
Matched object reference data collection；Wherein, each reference data set are as follows: when the mobile robot has location information, pre-
Fixed each reference position acquired image data set；
By target association coordinate corresponding to the object reference data collection, it is determined as the mobile robot and is presently in
The coordinate of position；Wherein, the target association coordinate is the coordinate of reference position corresponding to the object reference data collection.
In the present embodiment, the associated description of the specific steps about mobile robot method for relocating may refer to the application
Description content in institute's providing method embodiment, this will not be repeated here.
The function of each unit and the realization process of effect are specifically detailed in the above method and correspond to step in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize application scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (17)
1. a kind of mobile robot method for relocating characterized by comprising
Control mobile robot is moved to a scheduled reference position；
Destination image data collection is acquired using the image capture device of the mobile robot；
The each reference data for being included from preset property data base is concentrated, and determination matches with the destination image data collection
Object reference data collection；Wherein, each reference data set are as follows: when the mobile robot has location information, scheduled
Each reference position acquired image data set；
By target association coordinate corresponding to the object reference data collection, it is determined as the mobile robot and is presently in position
Coordinate；Wherein, the target association coordinate is the coordinate of reference position corresponding to the object reference data collection.
2. the method according to claim 1, wherein each reference position are as follows:
Each angular position of target scene where the mobile robot.
3. according to the method described in claim 2, it is characterized in that, the control mobile robot is moved to a scheduled reference
The step of position, comprising:
Distance measuring sensor and gyroscope based on the mobile robot, control mobile robot are moved to scheduled angle position
It sets.
4. according to the method described in claim 3, it is characterized in that, the distance measuring sensor based on the mobile robot and
The step of gyroscope, control mobile robot is moved to a scheduled angular position, comprising:
Control mobile robot rotates in place predetermined angular, and in rotary course, is passed using the ranging of the mobile robot
Sensor and gyroscope carry out data sampling, obtain range data collection and angle-data collection；
Based on the range data collection and angle-data collection, sampled point each in data sampling process is transformed into two-dimensional coordinate system
Under, and based on each sampled point in the two-dimensional coordinate system, fitting obtains at least one straight line in the two-dimensional coordinate system；
Any linear movement that the mobile robot is obtained along fitting is controlled, when detecting that the mobile robot hindered by target
When object being hindered to block advance, the mobile robot is adjusted to target position, the target position are as follows: with the target obstacle
Away from the first distance and the position with barrier corresponding to the straight line away from the second distance.
5. the method according to claim 1, wherein each reference position are as follows:
With each position of the first auxiliary signal equipment at a predetermined distance；
Alternatively,
So that the second auxiliary signal equipment receives each position of the network signal of predetermined strength value；Wherein, the network signal
It is issued by the mobile robot.
6. method according to claim 1-5, which is characterized in that the image using the mobile robot
The step of acquiring equipment acquisition destination image data collection, comprising:
It controls the mobile robot and rotates in place predetermined deflection angle, after rotating to predetermined deflection angle, using described
The image capture device of mobile robot acquires image data, constructs destination image data collection based on acquired image data.
7. method according to claim 1-5, which is characterized in that the image using the mobile robot
The step of acquiring equipment acquisition destination image data collection, comprising:
It controls the mobile robot and successively rotates in place multiple and different predetermined deflection angles, rotating to one every time in advance
After determining deflection angle, image data is acquired using the image capture device of the mobile robot, is based on each figure collected
As data construct destination image data collection.
8. method according to claim 1-5, which is characterized in that further include:
When meeting predetermined replacement condition, the target in the property data base is replaced using the destination image data collection
Reference data set.
9. a kind of mobile robot characterized by comprising
Mobile control unit is moved to a scheduled reference position for controlling mobile robot；
Data set obtaining unit, for acquiring destination image data collection using the image capture device of the mobile robot；
Object reference data collection determination unit, each reference data for being included from preset property data base are concentrated, really
The fixed object reference data collection to match with the destination image data collection；Wherein, each reference data set are as follows: the moving machine
When device people has location information, in scheduled each reference position acquired image data set；
Coordinate determination unit, for being determined as the movement for target association coordinate corresponding to the object reference data collection
Robot is presently in the coordinate of position；Wherein, the target association coordinate is the corresponding reference of the object reference data collection
The coordinate of position.
10. mobile robot according to claim 9, which is characterized in that each reference position are as follows:
Each angular position of target scene where the mobile robot.
11. mobile robot according to claim 10, which is characterized in that the mobile control unit is specifically used for:
Distance measuring sensor and gyroscope based on the mobile robot, control mobile robot are moved to scheduled angle position
It sets.
12. mobile robot according to claim 11, which is characterized in that the mobile control unit is specifically used for:
Control mobile robot rotates in place predetermined angular, and in rotary course, is passed using the ranging of the mobile robot
Sensor and gyroscope carry out data sampling, obtain range data collection and angle-data collection；
Based on the range data collection and angle-data collection, sampled point each in data sampling process is transformed into two-dimensional coordinate system
Under, and based on each sampled point in the two-dimensional coordinate system, fitting obtains at least one straight line in the two-dimensional coordinate system；
Any linear movement that the mobile robot is obtained along fitting is controlled, when detecting that the mobile robot hindered by target
When object being hindered to block advance, the mobile robot is adjusted to target position, the target position are as follows: with the target obstacle
Away from the first distance and the position with barrier corresponding to the straight line away from the second distance.
13. mobile robot according to claim 9, which is characterized in that each reference position are as follows:
With each position of the first auxiliary signal equipment at a predetermined distance；
Alternatively,
So that the second auxiliary signal equipment receives each position of the network signal of predetermined strength value；Wherein, the network signal
It is issued by the mobile robot.
14. according to the described in any item mobile robots of claim 9-13, which is characterized in that the data set obtaining unit tool
Body is used for:
It controls the mobile robot and rotates in place predetermined deflection angle, after rotating to predetermined deflection angle, using described
The image capture device of mobile robot acquires image data, constructs destination image data collection based on acquired image data.
15. according to the described in any item mobile robots of claim 9-13, which is characterized in that the data set obtaining unit tool
Body is used for:
It controls the mobile robot and successively rotates in place multiple and different predetermined deflection angles, rotating to one every time in advance
After determining deflection angle, image data is acquired using the image capture device of the mobile robot, is based on each figure collected
As data construct destination image data collection.
16. according to the described in any item mobile robots of claim 9-13, which is characterized in that further include:
Substitute unit, for replacing the characteristic using the destination image data collection when meeting predetermined replacement condition
The object reference data collection in library.
17. a kind of electronic equipment characterized by comprising internal bus, memory, processor and communication interface；Wherein, institute
It states processor, the communication interface, the memory and completes mutual communication by the internal bus；Wherein, described to deposit
Reservoir, for storing the feasible instruction of the corresponding machine of mobile robot method for relocating；
The processor for reading the machine readable instructions on the memory, and executes described instruction to realize power
Benefit requires the described in any item mobile robot method for relocating of 1-8.
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