CN110162049A - Method for searching, device and storage medium - Google Patents
Method for searching, device and storage medium Download PDFInfo
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- CN110162049A CN110162049A CN201910428012.7A CN201910428012A CN110162049A CN 110162049 A CN110162049 A CN 110162049A CN 201910428012 A CN201910428012 A CN 201910428012A CN 110162049 A CN110162049 A CN 110162049A
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- 238000000034 method Methods 0.000 title claims abstract description 87
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
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- 238000005516 engineering process Methods 0.000 abstract description 8
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- 238000010586 diagram Methods 0.000 description 15
- 238000012544 monitoring process Methods 0.000 description 9
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
This application involves robotic technology field, a kind of method for searching, device and storage medium are provided.Wherein, the method for searching is applied to the calculating equipment in Pathfinding system, and the Pathfinding system includes picture pick-up device, mobile service robot and the calculating equipment；The described method includes: obtaining the monitor video of the picture pick-up device shooting；According to the monitor video, position of the mobile service robot in the coverage of the picture pick-up device is determined；According to the position of mobile service robot, path planning is carried out to the service path of mobile service robot；The result of the path planning is sent to the mobile service robot, makes the mobile service robot under path planning mode, pathfinding is carried out according to the route programming result.The problem of the method can solve in the prior art, and mobile service robot cannot be taken into account in terms of the coverage rate of coverage and in terms of algorithm complexity.
Description
Technical field
This application involves robotic technology fields, in particular to a kind of method for searching, device and storage medium.
Background technique
With the continuous improvement that the development and people of information technology require quality of life, mobile service robot skill
Art is increasingly becoming the hot spot of modern machines people's research field, the robot that such as looks for something, sweeping robot, floor-mopping robot, spraying machine
Device people etc..
It is existing movable type service robot traverse space serviced when, the method for searching used be generally divided into
Machine impaction and path planning.Wherein, random collision method refers to robot according to certain moving algorithm, such as triangle, five
Side shape track tentatively covers coverage, if encountering obstacle, executes corresponding steering function.Random collision method is one
Kind changes the Low-Cost Strategy in space with the time, as time-out can achieve 100% coverage rate to coverage.Path planning
Rule needs to pre-establish environmental map, and robot carries out self poisoning in viability, according to environmental map, then according to certainly
The path for making every effort to traverse all coverages is established out in body positioning, and carries out pathfinding according to the path.
In above-mentioned two classes method for searching, random collision method is low to the hardware configuration requirement of robot, and algorithm is relatively easy, but
It is to use the mobile service robot of random collision method progress pathfinding not high to the coverage rate of coverage, service is not thorough；
The mobile service robot for carrying out pathfinding using path planning is high to the coverage rate in space, but path planning is to machine
The hardware configuration of people requires height, and algorithm is relative complex.
Summary of the invention
In view of this, the application's is designed to provide a kind of method for searching, device and storage medium, it is intended to solve existing
In technology, the problem of mobile service robot cannot be taken into account in terms of the coverage rate of coverage and in terms of algorithm complexity.
In a first aspect, the embodiment of the present application provides a kind of method for searching, applied to the calculating equipment in Pathfinding system, institute
Stating Pathfinding system includes picture pick-up device, mobile service robot and the calculating equipment, the picture pick-up device and the meter
Calculate equipment connection, the monitor video of shooting is real-time transmitted to the calculating equipment by the picture pick-up device, the calculatings equipment and
The movable type service robot is connected with wireless communication mode, is calculated equipment and is used to send to the mobile service robot
Control information, movable type service robot Information Mobile Service in the coverage of the picture pick-up device；The described method includes:
Obtain the monitor video of the picture pick-up device shooting；
According to the monitor video, determine the mobile service robot in the coverage of the picture pick-up device
Position；
According to the position of the mobile service robot, to the service path of the mobile service robot into
Row path planning, obtains route programming result；
The route programming result is sent to the mobile service robot, the mobile service robot is made to exist
Under path planning mode, pathfinding is carried out according to the route programming result.
Optionally, according to the monitor video, determine the mobile service robot in the bat of the picture pick-up device
It takes the photograph before the position in range, the method also includes:
Detect whether the monitor video received includes the mobile service robot；
If successfully detecting the mobile service robot, according to the monitor video, the mobile service is determined
Position of the robot in the coverage of the picture pick-up device；
If not detecting the mobile service robot, to the mobile service robot sending mode switching letter
Breath touches the mobile service robot at random to random collision mode, and described by the path planning pattern switching
It hits and carries out pathfinding under mode.
Optionally, according to the monitor video, determine the mobile service robot in the shooting of the picture pick-up device
Position in range, comprising:
The mobile service robot is detected in institute according to newest monitor video every the period of regular length
The change in location in the coverage of picture pick-up device is stated, and determines the position after variation；
According to the position of the mobile service robot, to the service path of the mobile service robot into
Row path planning, obtains route programming result, comprising:
According to the position after the variation of the mobile service robot, to the service road of the mobile service robot
Diameter re-starts path planning, obtains updated route programming result；
The route programming result is sent to the mobile service robot, the mobile service robot is made to exist
Under path planning mode, pathfinding is carried out according to the route programming result, comprising:
The updated route programming result is sent to the mobile service robot, makes the mobile service
Robot covers route programming result currently in use using the updated route programming result, and in the path planning
Under mode, pathfinding is carried out according to the updated route programming result.
Optionally, the quantity for the mobile service robot that the Pathfinding system includes is multiple, each movable type
Service robot is corresponding with respective coverage, the method also includes:
For the mobile service robot of each of multiple mobile service robots, the movable type is being detected
When service robot is moved to except its corresponding coverage, is sent to the movable type service robot and return information, make this
Mobile service robot moves back within its corresponding coverage.
Optionally, the quantity for the picture pick-up device that the Pathfinding system includes be it is multiple, described mobile serviced for multiple
Each of robot movable type service robot, the movable type service robot correspond at least one picture pick-up device, the movement
The coverage of formula service robot is the coverage of at least one corresponding picture pick-up device of movable type service robot；?
When detecting that the movable type service robot is moved to except its corresponding coverage, sent to the movable type service robot
Information is returned, moves back to the movable type service robot within its corresponding coverage, comprising:
It is executed for each of multiple mobile service robots mobile service robot, the calculating equipment
Following steps:
Detect whether the respective monitor video of multiple picture pick-up devices received includes the movable type service robot；
In the case where detecting the movable type service robot in the monitor video from the picture pick-up device that repels each other, it is determined that should
Mobile service robot is moved to except its corresponding coverage, wherein it is described repel each other picture pick-up device be not with the movement
The corresponding picture pick-up device of formula service robot；
It is closed according to the position between the picture pick-up device that repels each other any picture pick-up device corresponding with the movable type service robot
System carries out path planning to the return path of the mobile service robot, obtains return path result；
The recurrence information is sent to the movable type service robot, includes the return path in the recurrence information
As a result, making the movable type service robot under the path planning mode, pathfinding is carried out according to the return path result, with
It moves back within its coverage.
Optionally, the method also includes:
Receive the characteristic information of the target piece of user's input；
The characteristic information is sent to the mobile service robot, makes the mobile service robot in pathfinding
Period searches the target piece according to the characteristic information.
Second aspect, the embodiment of the present application also provides another method for searching, applied to the movable type in Pathfinding system
Service robot, the Pathfinding system include picture pick-up device, calculate equipment and the mobile service robot, the camera shooting
Equipment is connect with the calculating equipment, and the monitor video of shooting is real-time transmitted to the calculating equipment, institute by the picture pick-up device
It states calculating equipment and is connect with the mobile service robot with wireless communication mode, calculate equipment and be used to take to the movable type
Business robot sends control information, movable type service robot Information Mobile Service in the coverage of the picture pick-up device；
The described method includes:
Receive the route programming result that the calculating equipment is sent；
Under path planning mode, pathfinding is carried out according to the route programming result；
Wherein, the route programming result is monitor video of the calculating equipment in the acquisition picture pick-up device shooting,
And according to the monitor video, position of the mobile service robot in the coverage of the picture pick-up device is determined,
Further according to the position of the mobile service robot, path is carried out to the service path of the mobile service robot
It is obtained after planning.
Optionally, the method also includes:
Receive the pattern switching information that the calculating equipment is sent；
It is random collision mode by path planning pattern switching according to the pattern switching information, and starts to touch at random
It hits mode and carries out pathfinding；
Wherein, the pattern switching information is that the calculating equipment is not detecting the movement from the monitor video
It is generated in the case where formula service robot.
The third aspect, the embodiment of the present application also provides a kind of pathfinding path-seeking devices, applied to the calculating in Pathfinding system
Equipment, the Pathfinding system include picture pick-up device, mobile service robot and the calculating equipment, the picture pick-up device with
The monitor video of shooting is real-time transmitted to the calculating equipment, the calculating by the calculating equipment connection, the picture pick-up device
Equipment is connect with the mobile service robot with wireless communication mode, is calculated equipment and is used for the mobile service-delivery machine
Human hair send control information, movable type service robot Information Mobile Service in the coverage of the picture pick-up device；It is described to seek
Road device includes:
Module is obtained, for obtaining the monitor video of the picture pick-up device shooting；
Determining module, for determining the mobile service robot in the picture pick-up device according to the monitor video
Coverage in position；
Path planning module, for the position according to the mobile service robot, to the mobile service
The service path of robot carries out path planning, obtains route programming result；And
Sending module makes the movement for the route programming result to be sent to the mobile service robot
Formula service robot carries out pathfinding under path planning mode, according to the route programming result.
Fourth aspect, the embodiment of the invention also provides a kind of storage mediums, are stored thereon with computer program, the program
The step in the method for any description above is realized when being executed by processor.
Compared with prior art, the application has the advantages that
In the application, the monitor video that picture pick-up device is shot according to picture pick-up device determines the mobile service robot
Position in the coverage of the picture pick-up device, so as to according to the position of the mobile service robot,
Path planning is carried out to the service path of the mobile service robot, then the route programming result is sent to the shifting
After dynamic formula service robot, make the mobile service robot under path planning mode, according to the route programming result
Carry out pathfinding.
When implementing the present processes, mobile service robot need not pre-establish environmental map, and still can be
Under path planning mode, pathfinding is carried out with path planning.Itself algorithm of mobile service robot is simple, mobile server
The hardware requirement of device people itself is relatively low, and mobile service robot is higher to the coverage rate of coverage.Among these, path
The task of planning is executed by calculating equipment, and this calculating equipment can be the intrinsic monitoring of the scenes such as Administrative Area, factory floor
Computer in system, therefore computing hardware need not be increased newly and carry out execution route planning tasks.The present processes can solve existing
Have in technology, what mobile service robot cannot be taken into account in terms of the coverage rate of coverage and in terms of algorithm complexity asks
Topic.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below by institute in the description to the embodiment of the present application
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the application
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram for the Pathfinding system that one embodiment of the application proposes；
Fig. 2 is the flow diagram for the method for searching that one embodiment of the application proposes；
Fig. 3 is the structural schematic diagram for another Pathfinding system that one embodiment of the application proposes；
Fig. 4 is the flow diagram for another method for searching that one embodiment of the application proposes；
Fig. 5 is the specific flow diagram for step S15 that one embodiment of the application proposes；
Fig. 6 is the flow diagram for another method for searching that one embodiment of the application proposes；
Fig. 7 is the flow diagram for another method for searching that one embodiment of the application proposes；
Fig. 8 is the structural block diagram for the path-seeking device that one embodiment of the application proposes.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on this Shen
Please in embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall in the protection scope of this application.
A kind of Pathfinding system is shown with reference to Fig. 1, Fig. 1, method provided by the present application can be implemented in the Pathfinding system.
In Fig. 1, the Pathfinding system includes: picture pick-up device, mobile service equipment and calculates equipment.Wherein, picture pick-up device and meter
Equipment connection is calculated, the monitor video of shooting is real-time transmitted to calculating equipment by picture pick-up device.Calculate equipment and mobile server
Device people is connected with wireless communication mode, is calculated equipment and is used to send control information, movable type service to mobile service robot
Robot Information Mobile Service in the coverage of picture pick-up device.
Illustratively, method provided herein can be applied to the scenes such as Administrative Area, engineering workshop, wrap in Pathfinding system
The picture pick-up device and calculating equipment included can be original monitoring system in these scenes, between picture pick-up device and calculating equipment
Video line connection can be used in connection type.Picture pick-up device and calculating equipment can be located in same local area network, to establish each other logical
News.Specifically, picture pick-up device can be communicated with the wireless routing in local area network, to establish wireless telecommunications with equipment is calculated.
With reference to Fig. 2, Fig. 2 shows the flow chart for the method for searching that one embodiment of the application proposes, the method for searching applications
Calculating equipment in the Pathfinding system shown in Fig. 1.As shown in Fig. 2, method includes the following steps:
Step S11: the monitor video of the picture pick-up device shooting is obtained.
In the present embodiment, monitor video is the picture pick-up device shooting, and monitor video is real-time transmitted to calculating equipment, from
And calculating equipment is enable to obtain monitor video.
Illustratively, the shooting angle of picture pick-up device can be fixation, correspondingly, the coverage that monitor video is shown is also
Fixed.The shooting angle of picture pick-up device is also possible to rotatably.Such as this has been traversed in mobile service robot and has been taken the photograph
After the corresponding coverage of equipment, the holder of the remote controlled picture pick-up device of equipment is calculated, makes cloud platform rotation, adjustment camera shooting
The shooting angle of equipment, and then the coverage that monitor video is shown also is adjusted therewith；Calculating equipment at this time can control shifting
Dynamic formula service robot is moved to Information Mobile Service in the new coverage of picture pick-up device.
Step S12: according to the monitor video, determine the mobile service robot in the shooting of the picture pick-up device
Position in range.
In the present embodiment, equipment is calculated according to the present frame picture of monitor video, determines the mobile service robot
Position in the coverage of the picture pick-up device.
Illustratively, picture pick-up device sends the picture that the video of calculating equipment is a frame frame in time to, and it is true to calculate equipment
It is right based on present frame picture when being the determining movement execution to calculate equipment when the position of fixed movable type service robot
The frame picture is analyzed.Equipment is calculated based on the newest frame picture of monitor video, confirms mobile service-delivery machine
Position of the people in the corresponding coverage of frame picture.
Illustratively, the coverage of picture pick-up device can be Administrative Area, engineering workshop, banquet hall or home environment etc.
Somewhere or panorama in scene.Mobile service robot, which can be, to be provided the robot that looks for something of service in these scenes, sweeps
Floor-washing robot, floor-mopping robot or sprinkling robot etc..It should be appreciated that the mobile service robot in the application is not
It is confined to Indoor Robot, such as can also be outdoor spray robot, spray robot is needed in crop area or grass
All vegetation of level ground area coverage, to spray drug for vegetation.
Illustratively, calculate equipment determine mobile service robot position method can there are many selections.Such as to move
The artificial target of dynamic formula service-delivery machine tracks mobile service robot in monitor video using image trace technology,
To determine position of the mobile service robot in the coverage of capture apparatus.Specific image tracking algorithm can be selected
Mean Shift mean shift algorithm, Cam Shift algorithm, kalman filtering algorithm, particle filter algorithm etc..With applied field
Scape be office space for, by image trace technology, determine mobile service robot in the corresponding coordinate of coverage
Coordinate in system is (12.2,7.8), wherein coordinate system is pre-established according to the monitor video of picture pick-up device shooting.
But not limited to this, calculating equipment can also identify using image instance cutting techniques and position mobile server
Device people.Such as Faster R-CNN or Mask R-CNN model are selected, it is selected in monitored picture center and marks mobile service
Robot.If the external form of mobile service robot is special, need be with the external form picture of mobile service robot in advance
Sample data is trained Faster R-CNN or Mask R-CNN model.
Step S13: according to the position of the mobile service robot, to the clothes of the mobile service robot
Business path carries out path planning, obtains route programming result.
In the present embodiment, after calculating the position that equipment determines mobile service robot, which is equivalent to movable type
Positioning of the service robot in coverage calculates the coverage shown in the monitor video that equipment obtains and is equivalent to scene
Map, the positioning based on scene map and mobile service robot in the scene, can be according to existing paths planning method
Path planning is carried out to the service path of robot, to obtain route programming result.
Illustratively, image procossing can be carried out to the picture of monitor video by calculating equipment, make the barrier in shooting environmental
It is labeled.By taking application scenarios are office space as an example, it can use the image instances such as Faster R-CNN or Mask R-CNN point
Cut model, in the picture of office space object carry out frame choosing label, such as picture center select and mark desk, seat,
The objects such as printer, potting go back frame and select and marked mobile service robot, and the background not being labeled in picture is then
Represent ground；Then according to labeled picture, grating map (grating map is one of a variety of environmental maps) is established,
Barrier is expressed as at the corresponding position of the objects such as desk, seat, printer, potting in grating map；Frame is selected and marked
Mobile service robot out maps in grating map to be determined in grating map to get to mobile service robot
Position；It calculates equipment and path planning is carried out according to grating map and positioning, such as the route programming result of calculating facility planning is:
Make the pathfinding in coverage according to arcuate line of mobile service robot, to traverse entire coverage, and in the same of pathfinding
When cut-through object.
Step S14: the route programming result is sent to the mobile service robot, makes the mobile service
Robot carries out pathfinding under path planning mode, according to the route programming result.
In the present embodiment, equipment is calculated by the way of wireless telecommunications, route programming result is sent to mobile service
Robot makes mobile service robot under path planning mode, carries out pathfinding according to diameter program results.Wherein, path is advised
The mode of drawing is a kind of pathfinding mode of mobile service robot, when mobile service robot is under path planning mode
When, pathfinding can be carried out according to route programming result.
When stating the method including step S11 to step S14 on the implementation, mobile service robot need not pre-establish ring
Condition figure, and still pathfinding can be carried out with path planning under path planning mode.Mobile service robot itself is calculated
Method is simple, and the hardware requirement of mobile service robot itself is relatively low, and mobile service robot covers coverage
Lid rate is higher.Among these, the task of path planning is executed by calculating equipment, and this calculating equipment can be Administrative Area, factory
Computer in the intrinsic monitoring system of the scenes such as workshop, therefore computing hardware need not be increased newly and carry out execution route planning tasks.This
The method of application can solve in the prior art, and mobile service robot is in terms of the coverage rate of coverage and algorithm difficulty or ease journey
The problem of degree aspect cannot be taken into account.
In view of mobile service robot is during Information Mobile Service, may move under the veil to monitoring range
Side, to disappear in monitored picture.It is artificial as office space, mobile service-delivery machine machine of artificially looking for something using application scenarios
Example, the robot that looks for something may move to desk, to disappear in the picture of monitor video.In the application, upper
Before the step S12 stated, following steps can also be performed:
S12a: detect whether the monitor video received includes the mobile service robot；
S12b: if successfully detecting, the mobile service robot determines the movable type according to the monitor video
Position of the service robot in the coverage of the picture pick-up device；
S12c: if not detecting the mobile service robot, to the mobile service robot sending mode
Handover information makes the mobile service robot by the path planning pattern switching to random collision mode, and described
Pathfinding is carried out under random collision mode.
Illustratively, the detection method in step S12a can select any one existing image recognition technology or image real
Example cutting techniques, such as using complete and incomplete mobile service robot picture as sample data, preset model is carried out
Identification model obtained from training is detected using monitored picture of the identification model to monitor video.
Illustratively, in step S12b, if successfully detecting mobile service-delivery machine in the monitored picture of monitor video
People, such as detect complete mobile service robot image or incomplete mobile service robot image, then it carries out
Otherwise above-mentioned steps S12 does not temporarily execute above-mentioned steps S12, and execute step S12c.
Illustratively, in step S12c, if not detecting mobile service robot in the monitored picture of monitor video,
It then indicates the veil lower section that mobile service robot is moved in monitoring range, calculates equipment at this time to the mobile clothes
It is engaged in robot sending mode handover information, makes the mobile service robot by the path planning pattern switching to touching at random
Mode is hit, and carries out pathfinding under the random collision mode.Wherein random collision mode is the another of mobile service robot
A kind of pathfinding mode, when mobile service robot is under random collision mode, can according to according to random collision method into
Row pathfinding.
The above-mentioned mobile service robot of the method including step S12a to step S12c disappears in monitored picture
Situation provides countermeasure, and mobile service robot is difficult to be positioned according to the monitored picture of monitor video at this time, therefore will
Its pathfinding mode by path planning pattern switching to random collision mode, mobile service robot below veil according to
Machine impaction pathfinding can be taken, and detected by calculating equipment until it is moved below veil by picture pick-up device
It arrives, then calculates equipment according still further to step 12 and execute corresponding actions.Although mobile service robot uses random collision method
It is not high to the coverage rate of coverage, but demand of the veil lower zone to service be not usually high, such as below desk
It is not easy dust stratification or storage, therefore sweeping robot, floor-mopping robot or the robot that looks for something are not needed to provide below desk and be covered
The higher service of lid rate.So carrying out pathfinding using random collision method below veil, satisfy the use demand, and can shorten
More service times are supplied to the more regions of demand, improve overall service efficiency by the service time in this region.
In view of mobile service robot is during Information Mobile Service, external disturbance may be subjected to, and since outside is dry
Disturb and slightly offset the pre-determined route of route programming result.In order to deviate road after external disturbance to mobile service robot
The case where line, is corrected, and in the application, above-mentioned steps S12 to step S14 be may particularly include:
Step S12 may particularly include: according to the monitor video, every the period of regular length, detect the movement
Change in location of the formula service robot in the coverage of the picture pick-up device, and determine the position after variation；
Step S13 may particularly include: according to the position after the variation of the mobile service robot, to the movable type
The service path of service robot re-starts path planning, obtains updated route programming result；
Step S14 may particularly include: the updated route programming result is sent to the mobile service-delivery machine
People makes the mobile service robot cover path planning knot currently in use using the updated route programming result
Fruit, and under the path planning mode, pathfinding is carried out according to the updated route programming result.
Illustratively, equipment is calculated every 10 seconds, according to newest monitor video, detects the mobile service robot
Change in location in the coverage of the picture pick-up device, and determine the position after variation；According to the mobile server
Position after the variation of device people re-starts path planning to the service path of the mobile service robot, is updated
Route programming result afterwards；The updated route programming result is sent to the mobile service robot, is made described
Mobile service robot covers route programming result currently in use using the updated route programming result, that is, covers
Corresponding route programming result before 10 seconds, and under the path planning mode, according to the updated path planning knot
Fruit carries out pathfinding.It should be appreciated that above-mentioned 10 seconds interval times can not be interpreted as the limitation to the application.
Method including above-mentioned each specific steps carries out periodic detection to the position of mobile service robot, and according to fixed
The new position for the mobile service robot that phase detects updates route programming result, makes mobile service robot according to new
Route programming result pathfinding, the offset on the move to mobile service robot carry out routine adjustment, it is ensured that robot is not
Big position deviation occurs.
With reference to Fig. 3, the quantity for the mobile service robot that the Pathfinding system includes is multiple, each movable type
Service robot is corresponding with respective coverage.In Fig. 3, each lattice represents a picture pick-up device, lattice periphery
Dotted circle represents the monitoring range of picture pick-up device, and each solid line circle represents a mobile service robot, around each
The irregular solid line closed figure of unbroken circle represents the service range of mobile service robot.In order to keep attached drawing succinctly bright
, calculating equipment is not shown in Fig. 3.
With reference to Fig. 4, method for searching provided by the present application can also include under the premise of including step S11 to step S14
Step:
Step S15: it for the mobile service robot of each of multiple mobile service robots, is detecting
When the movable type service robot is moved to except its corresponding coverage, is sent to the movable type service robot and return letter
Breath, moves back to the movable type service robot within its corresponding coverage.
By configuring multiple mobile service robots for Pathfinding system, and each mobile service robot is corresponding with respectively
Coverage, calculate monitoring of tools each mobile service robot Information Mobile Service, Ke Yiti in its corresponding coverage
Efficiency of service of the height to entire coverage.When the density of demand for services is larger, demand for services can satisfy.
With reference to Fig. 3, the quantity for the picture pick-up device that the Pathfinding system includes be also it is multiple, described mobile taken for multiple
The mobile service robot of each of business robot, the movable type service robot correspond at least one picture pick-up device, the shifting
The coverage of dynamic formula service robot is the coverage of at least one corresponding picture pick-up device of movable type service robot.
Such as in Fig. 3, the corresponding monitoring device a of mobile service robot A, monitoring device b and monitoring device d, mobile server
The corresponding monitoring device c of device people B, monitoring device e and monitoring device f.
With reference to Fig. 5, step S15: when detecting that the movable type service robot is moved to except its corresponding coverage,
To the movable type service robot send return information, make the movable type service robot move back to its corresponding coverage it
It is interior, comprising:
It is executed for each of multiple mobile service robots mobile service robot, the calculating equipment
Following steps:
Step S15a: detect whether the respective monitor video of multiple picture pick-up devices received includes the movable type server
Device people；
Step S15b: the case where movable type service robot is detected in the monitor video from the picture pick-up device that repels each other
Under, it is determined that the movable type service robot is moved to except its corresponding coverage, wherein the picture pick-up device that repels each other is
Picture pick-up device not corresponding with the movable type service robot；
Step S15c: according between the picture pick-up device that repels each other any picture pick-up device corresponding with the movable type service robot
Positional relationship, path planning is carried out to the return path of the mobile service robot, obtains return path result；
Step S15d: the recurrence information is sent to the movable type service robot, includes in the recurrence information
Return path is stated as a result, making the movable type service robot under the path planning mode, according to the return path result
Pathfinding is carried out, to move back within its coverage.
Illustratively, each movable type service robot has respective feature in Pathfinding system, to enable to calculate equipment
Determine which mobile service robot the mobile service robot that identifies is specially, in step step S15a, calculating is set
It is standby that the mobile service robot detected in each monitor video is confirmed, confirm the movement occurred in each monitor video
Which mobile service robot formula service robot is specially.
Illustratively, as shown in figure 3, for mobile service robot A, corresponding picture pick-up device include picture pick-up device a,
Picture pick-up device b and picture pick-up device d detects mobile server when calculating equipment in the monitor video that picture pick-up device f is sent into
Device people A then calculates equipment and determines that the movable type service robot is moved to except its corresponding coverage.
Illustratively, equipment is calculated to be taken the photograph according to any in picture pick-up device f and picture pick-up device a, picture pick-up device b and picture pick-up device d
As the positional relationship of equipment, path planning is carried out to the return path of the mobile service robot.Such as calculating equipment is pre-
First in all picture pick-up device arrays establish coordinate system, as shown in figure 3, calculate equipment according to picture pick-up device f and picture pick-up device d it
Between positional relationship: the line between picture pick-up device f and picture pick-up device d is parallel with x-axis direction, and picture pick-up device f be located at camera shooting
The positive direction of the x-axis of equipment d.Then calculate equipment carry out the return path after path planning the result is that: enable mobile service robot A
It is moved along x-axis opposite direction.Such as when calculating equipment detects the image of mobile service robot A again in picture pick-up device d
Afterwards, mobile service robot A stops returning movement, restarts Information Mobile Service.
In the above-mentioned method including step S15a to step S15d, equipment is calculated by whether from the prison of the picture pick-up device that repels each other
The movable type service robot is detected in control video, to determine whether the movable type service robot is moved to its coverage
Outside, the hardware condition that entire determination process relies on still can be existing monitoring system, without specially adding other hardware
Equipment, to determine whether the movable type service robot is moved to outside its coverage, system cost is lower.
With reference to Fig. 6, method for searching provided by the present application can also include under the premise of including step S11 to step S14
Step:
Step S16a: the characteristic information of the target piece of user's input is received；
Step S16b: the characteristic information is sent to the mobile service robot, makes the mobile server
Device people searches the target piece according to the characteristic information during pathfinding.
Illustratively, by taking application scenarios are storage repository as an example, the characteristic information of target piece can be the volume of target piece
Number, the object of storage repository storage can carry radio-frequency identification card, and radio frequency identification reading is provided on mobile service robot
After taking device, mobile service robot to receive the number of target piece, storage repository is traversed, the radio frequency identification of several objects is read
The number information stored in card, and the number of the number information of reading and target piece is compared, to search target piece.
The flow chart that one embodiment of the application proposes the method for searching of another, the pathfinding side are shown with reference to Fig. 7, Fig. 7
Method is applied to the mobile service robot in Pathfinding system shown in Fig. 1.As shown in fig. 7, method includes the following steps:
S21: the route programming result for calculating equipment and sending is received；
S22: under path planning mode, pathfinding is carried out according to the route programming result.
Wherein, the route programming result is monitor video of the calculating equipment in the acquisition picture pick-up device shooting,
And according to the monitor video, position of the mobile service robot in the coverage of the picture pick-up device is determined,
Further according to the position of the mobile service robot, path is carried out to the service path of the mobile service robot
It is obtained after planning.
When stating the method including step S21 to step S22 on the implementation, mobile service robot need not pre-establish ring
Condition figure, and still pathfinding can be carried out with path planning under path planning mode.Mobile service robot itself is calculated
Method is simple, and the hardware requirement of mobile service robot itself is relatively low, and mobile service robot covers coverage
Lid rate is higher.Among these, the task of path planning is executed by calculating equipment, and this calculating equipment can be Administrative Area, factory
Computer in the intrinsic monitoring system of the scenes such as workshop, therefore computing hardware need not be increased newly and carry out execution route planning tasks.This
The method of application can solve in the prior art, and mobile service robot is in terms of the coverage rate of coverage and algorithm difficulty or ease journey
The problem of degree aspect cannot be taken into account.
In addition, method shown in described Fig. 7 can be the following steps are included: receive the pattern switching for calculating equipment and sending
Information；It is random collision mode by path planning pattern switching according to the pattern switching information, and starts with random collision mould
Formula carries out pathfinding.
Wherein, the pattern switching information is that the calculating equipment is not detecting the movement from the monitor video
It is generated in the case where formula service robot.
Based on the same inventive concept, one embodiment of the application provides a kind of path-seeking device.It is the application one with reference to Fig. 8, Fig. 8
The structural block diagram for the path-seeking device that embodiment proposes.The device is applied to the calculating equipment in Pathfinding system shown in Fig. 1.Such as Fig. 8
Shown, which includes:
Module 801 is obtained, for obtaining the monitor video of the picture pick-up device shooting；
Determining module 802, for determining that the mobile service robot is set in the camera shooting according to the monitor video
Position in standby coverage；
Path planning module 803, for the position according to the mobile service robot, to the mobile clothes
The service path of business robot carries out path planning, obtains route programming result；And
Sending module 804 makes the shifting for the route programming result to be sent to the mobile service robot
Dynamic formula service robot carries out pathfinding under path planning mode, according to the route programming result.
Based on the same inventive concept, another embodiment of the application provides a kind of computer readable storage medium, stores thereon
There is computer program, the step in the method as described in any of the above-described embodiment of the application is realized when which is executed by processor
Suddenly.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating
Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Above to a kind of method for searching, device and storage medium provided herein, it is described in detail, herein
Applying specific case, the principle and implementation of this application are described, and the explanation of above example is only intended to help
Understand the present processes and its core concept；At the same time, for those skilled in the art, according to the thought of the application,
There will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as to this
The limitation of application.
Claims (10)
1. a kind of method for searching, which is characterized in that applied to the calculating equipment in Pathfinding system, the Pathfinding system includes camera shooting
Equipment, mobile service robot and the calculating equipment, the picture pick-up device are connect with the calculating equipment, the camera shooting
The monitor video of shooting is real-time transmitted to the calculating equipment, the calculating equipment and the mobile service robot by equipment
It is connected with wireless communication mode, calculates equipment and be used to send control information, the movable type to the mobile service robot
Service robot Information Mobile Service in the coverage of the picture pick-up device；The described method includes:
Obtain the monitor video of the picture pick-up device shooting；
According to the monitor video, position of the mobile service robot in the coverage of the picture pick-up device is determined
It sets；
According to the position of the mobile service robot, road is carried out to the service path of the mobile service robot
Diameter planning, obtains route programming result；
The route programming result is sent to the mobile service robot, makes the mobile service robot in path
Under Planning Model, pathfinding is carried out according to the route programming result.
2. method for searching according to claim 1, which is characterized in that according to the monitor video, determine the movement
Formula service robot before the position in the coverage of the picture pick-up device, the method also includes:
Detect whether the monitor video received includes the mobile service robot；
If successfully detecting the mobile service robot, according to the monitor video, the mobile service-delivery machine is determined
Position of the people in the coverage of the picture pick-up device；
If not detecting the mobile service robot, to the mobile service robot sending mode handover information,
Make the mobile service robot by the path planning pattern switching to random collision mode, and in the random collision mould
Pathfinding is carried out under formula.
3. method for searching according to claim 1 or 2, which is characterized in that according to the monitor video, determine the movement
Position of the formula service robot in the coverage of the picture pick-up device, comprising:
It detects the mobile service robot according to newest monitor video every the period of regular length and is taken the photograph described
As equipment coverage in change in location, and determine variation after position；
According to the position of the mobile service robot, road is carried out to the service path of the mobile service robot
Diameter planning, obtains route programming result, comprising:
According to the position after the variation of the mobile service robot, to the service path weight of the mobile service robot
It is new to carry out path planning, obtain updated route programming result；
The route programming result is sent to the mobile service robot, makes the mobile service robot in path
Under Planning Model, pathfinding is carried out according to the route programming result, comprising:
The updated route programming result is sent to the mobile service robot, makes the mobile service-delivery machine
People covers route programming result currently in use using the updated route programming result, and in the path planning mode
Under, pathfinding is carried out according to the updated route programming result.
4. method for searching according to claim 1, which is characterized in that the mobile service-delivery machine that the Pathfinding system includes
The quantity of people be it is multiple, each mobile service robot is corresponding with respective coverage, the method also includes:
For the mobile service robot of each of multiple mobile service robots, movable type service is being detected
When robot is moved to except its corresponding coverage, is sent to the movable type service robot and return information, make the movement
Formula service robot moves back within its corresponding coverage.
5. method for searching according to claim 4, which is characterized in that the quantity for the picture pick-up device that the Pathfinding system includes
Be it is multiple, for the mobile service robot of each of multiple mobile service robots, the movable type service-delivery machine
People corresponds at least one picture pick-up device, and the coverage of the movable type service robot is that the movable type service robot is corresponding
The coverage of at least one picture pick-up device；Detect the movable type service robot be moved to its corresponding coverage it
When outer, sent to the movable type service robot and return information, the movable type service robot is made to move back to its corresponding service
Within region, comprising:
Execute following for each of multiple mobile service robots mobile service robot, the calculating equipment
Step:
Detect whether the respective monitor video of multiple picture pick-up devices received includes the movable type service robot；
In the case where detecting the movable type service robot in the monitor video from the picture pick-up device that repels each other, it is determined that the movement
Formula service robot is moved to except its corresponding coverage, wherein the picture pick-up device that repels each other is not take with the movable type
The corresponding picture pick-up device of business robot；
It is right according to the positional relationship between the picture pick-up device that repels each other any picture pick-up device corresponding with the movable type service robot
The return path of the movable type service robot carries out path planning, obtains return path result；
The recurrence information is sent to the movable type service robot, includes the return path knot in the recurrence information
Fruit makes the movable type service robot under the path planning mode, carries out pathfinding according to the return path result, to move
It moves back within its coverage.
6. method for searching according to claim 1, which is characterized in that the method also includes:
Receive the characteristic information of the target piece of user's input；
The characteristic information is sent to the mobile service robot, makes the mobile service robot during pathfinding
The target piece is searched according to the characteristic information.
7. a kind of method for searching, which is characterized in that applied to the mobile service robot in Pathfinding system, the Pathfinding system
It is connect including picture pick-up device, calculating equipment and the mobile service robot, the picture pick-up device with the calculating equipment,
The monitor video of shooting is real-time transmitted to the calculating equipment, the calculating equipment and the mobile clothes by the picture pick-up device
Business robot is connected with wireless communication mode, is calculated equipment and is used to send control information, institute to the mobile service robot
State mobile service robot Information Mobile Service in the coverage of the picture pick-up device；The described method includes:
Receive the route programming result that the calculating equipment is sent；
Under path planning mode, pathfinding is carried out according to the route programming result；
Wherein, the route programming result is the calculating equipment in the monitor video for obtaining picture pick-up device shooting, and root
According to the monitor video, position of the mobile service robot in the coverage of the picture pick-up device, then root are determined
According to the position of the mobile service robot, path planning is carried out to the service path of the mobile service robot
It obtains afterwards.
8. method for searching according to claim 7, which is characterized in that the method also includes:
Receive the pattern switching information that the calculating equipment is sent；
It is random collision mode by path planning pattern switching according to the pattern switching information, and starts with random collision mould
Formula carries out pathfinding；
Wherein, the pattern switching information is that the calculating equipment is not detecting the mobile clothes from the monitor video
It is generated in the case where business robot.
9. a kind of path-seeking device, which is characterized in that applied to the calculating equipment in Pathfinding system, the Pathfinding system includes camera shooting
Equipment, mobile service robot and the calculating equipment, the picture pick-up device are connect with the calculating equipment, the camera shooting
The monitor video of shooting is real-time transmitted to the calculating equipment, the calculating equipment and the mobile service robot by equipment
It is connected with wireless communication mode, calculates equipment and be used to send control information, the movable type to the mobile service robot
Service robot Information Mobile Service in the coverage of the picture pick-up device；The path-seeking device includes:
Module is obtained, for obtaining the monitor video of the picture pick-up device shooting；
Determining module, for determining the mobile service robot in the bat of the picture pick-up device according to the monitor video
Take the photograph the position in range；
Path planning module, for the position according to the mobile service robot, to the mobile service-delivery machine
The service path of people carries out path planning, obtains route programming result；And
Sending module makes the mobile clothes for the route programming result to be sent to the mobile service robot
Robot be engaged under path planning mode, pathfinding is carried out according to the route programming result.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor
The step in method as described in claim 1-6 or 7-8 are any.
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