CN110243369A - Drawing method and device are remotely built suitable for robot localization - Google Patents
Drawing method and device are remotely built suitable for robot localization Download PDFInfo
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- CN110243369A CN110243369A CN201910363878.4A CN201910363878A CN110243369A CN 110243369 A CN110243369 A CN 110243369A CN 201910363878 A CN201910363878 A CN 201910363878A CN 110243369 A CN110243369 A CN 110243369A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
Drawing method and device remotely are built suitable for robot localization this application discloses a kind of, wherein method passes through: obtaining the road boundary coordinate built in figure environment；And obtain map boundary line；The boundary of road is obtained according to the road boundary coordinate；The travelable region and traveling-prohibited area in the map frame are determined according to the boundary of the road；According to the travelable region and traveling-prohibited area and generate cartographic information.Achieve the purpose that carry out remotely building figure for robot running environment, drawing method is remotely built to realize disengaging SLAM suitable for robot localization, long-range fast run-up figure is carried out using the surveying and mapping data of tradition mapping, figure is built without robot actual scene, and such mode finally uses GNSS located in connection mode to carry out robot navigation's positioning, such as the technical effect of the fusion offer location information between GNSS, Odom, IMU.
Description
Technical field
This application involves field of locating technology, remotely build figure side suitable for robot localization in particular to a kind of
Method and device.
Background technique
Currently, the method for robot building map has very much, simultaneous localization and mapping (Simultaneous
Localization And Mapping, abbreviation SLAM) it is most common method, it typically refers in robot or other loads
On body, by the way that various sensing datas are acquired and are calculated, the positioning to its own position and attitude and scene map are generated
The system of information, it has a wide range of applications in fields such as automatic Pilot, service humanoid robot, unmanned plane, AR/VR, it may be said that
All intelligent bodies for possessing certain ability to act are owned by some form of SLAM system.
It is limited by ambient enviroment for laser SLAM, and unstable in the environment of strong light direct beam, ambient enviroment moves
Positioning when state barrier is more problematic, more difficult in similar geometry environment build figure, builds the disadvantages of figure needs winding to detect.
Vision SLAM, which has, builds figure problem, texture-free environment (such as clean and tidy white metope) and light in illumination variation
Build that figure orientation problem, vision slam are higher to computer configuration requirement, can not provide absolute fix information according to especially weak environment
The disadvantages of.
SLAM system is inevitably affected by environment, it is affected by environment to build figure speed, and robot is needed to go reality
Scene builds figure, time-consuming and laborious.
For many technical problems present in the relevant technologies, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application be to provide it is a kind of remotely build drawing method and device suitable for robot localization, with solution
Certainly at least one technical problem present in the relevant technologies.
To achieve the goals above, it according to the one aspect of the application, provides a kind of suitable for the remote of robot localization
Cheng Jian drawing method.
It is suitable for remotely building drawing method and include: for robot localization according to the application
Obtain the road boundary coordinate built in figure environment；And
Obtain map boundary line；
The boundary of road is obtained according to the road boundary coordinate；
Travelable region and traveling-prohibited area in the map frame are determined according to the boundary of the road；
According to the travelable region and traveling-prohibited area and generate cartographic information.
Further, drawing method, the acquisition road boundary coordinate are remotely built suitable for robot localization as the aforementioned
Include:
The mapping information of figure environment is built described in acquisition；
The characteristic point of the road is obtained in the mapping information；
The coordinate on the boundary of the road is determined according to all characteristic points.
Further, drawing method, the acquisition map boundary line, packet are remotely built suitable for robot localization as the aforementioned
It includes:
The mapping information of figure environment is built described in acquisition；
Determine the maximum value and minimum value in the direction x, y in the mapping information；
The map boundary line is obtained according to the maximum value in the direction x, y and minimum value.
Further, drawing method remotely is built suitable for robot localization as the aforementioned, it is described according to the road boundary
Coordinate obtains the boundary of road, comprising:
The road boundary coordinate is sequentially connected by pl multi-section-line, obtains the boundary of the road.
Further, drawing method remotely is built suitable for robot localization as the aforementioned, the boundary according to the road is true
It is scheduled on the travelable region and traveling-prohibited area in the map frame, comprising:
Preset the color for filling traveling-prohibited area；
The travelable region in the map frame is obtained according to the boundary of the road；And
The traveling-prohibited area；
The traveling-prohibited area is filled by the color.
To achieve the goals above, it according to the another aspect of the application, provides a kind of suitable for the remote of robot localization
Cheng Jian map device.
It is suitable for remotely building map device and include: for robot localization according to the application
Road boundary coordinate unit, for obtaining the road boundary coordinate built in figure environment；And
Map boundary line unit, for obtaining map boundary line；
Road boundary unit, for obtaining the boundary of road according to the road boundary coordinate；
Area division unit, for according to the boundary of the road determine travelable region in the map frame with
And traveling-prohibited area；
Map generation unit, for according to the travelable region and traveling-prohibited area and generating cartographic information.
Further, map device, the road boundary coordinate unit are remotely built suitable for robot localization as the aforementioned
Include:
First mapping information obtains module, for obtaining the mapping information for building figure environment；
Characteristic point obtains module, for obtaining the characteristic point of the road in the mapping information；
Boundary coordinate determining module, the coordinate on the boundary for determining the road according to all characteristic points.
Further, map device remotely is built suitable for robot localization as the aforementioned, the map boundary line unit includes:
Second Surveying And Mapping data obtaining module, for obtaining the mapping information for building figure environment；
Endpoint determining module, for determining the maximum value and minimum value in the direction x, y in the mapping information；
Boundary determining module, for obtaining the map boundary line according to the maximum value and minimum value in the direction x, y.
Further, map device remotely is built suitable for robot localization as the aforementioned, the road boundary unit is specific
For:
The road boundary coordinate is sequentially connected by pl multi-section-line, obtains the boundary of the road.
Further, map device remotely is built suitable for robot localization as the aforementioned, the area division unit includes:
Color determination module presets the color for filling traveling-prohibited area；
Region division module, for obtaining the travelable area in the map frame according to the boundary of the road
Domain；And the traveling-prohibited area；
Module is filled, for the traveling-prohibited area to be filled by the color.
In the embodiment of the present application, using it is a kind of suitable for robot localization remotely build drawing method and device by the way of,
Wherein method passes through: obtaining the road boundary coordinate built in figure environment；And obtain map boundary line；It is sat according to the road boundary
Mark obtains the boundary of road；The travelable region in the map frame and not is determined according to the boundary of the road
It can travel region；According to the travelable region and traveling-prohibited area and generate cartographic information.Machine can be directed to by having reached
The progress of device people's running environment remotely builds the purpose of figure, remotely builds figure side suitable for robot localization to realize and be detached from SLAM
Method carries out long-range fast run-up figure using the surveying and mapping data of tradition mapping, builds figure without robot actual scene, and such mode is most
Robot navigation's positioning is carried out using GNSS located in connection mode eventually, such as the fusion between GNSS, Odom, IMU provides
The technical effect of location information.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the process signal for remotely building drawing method for being suitable for robot localization according to a kind of embodiment of the application
Figure；And
Fig. 2 is the functional module knot for remotely building map device for being suitable for robot localization according to a kind of embodiment of the application
Structure schematic diagram.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
According to the one aspect of the application, provides and a kind of remotely build drawing method suitable for robot localization.Such as Fig. 1 institute
Show, this method includes the following steps, namely S1 to step S5:
S1. the road boundary coordinate built in figure environment is obtained；
Specifically, outdoor environment road, the house of the work of each robot are to have done engineering mapping, therefore it is every
The characteristic point of road boundary can be provided from garden；Therefore, it is possible to obtain the road according to the characteristic point on the boundary
Boundary coordinate；
S2. map boundary line is obtained；
Specifically, on the basis of having carried out engineering mapping, according to mapping information, obtain described building figure environment correspondingly
Figure boundary；
S3. the boundary of road is obtained according to the road boundary coordinate；
Specifically, due to having obtained road boundary coordinate in step S1, it can be according to the road boundary coordinate
It carries out the modes such as connected and obtains the boundary of the road；
S4. the travelable region in the map frame is determined according to the boundary of the road and area can not be travelled
Domain；
Specifically, the reason of building figure be exactly in order to allow robot that can identify travelable region and traveling-prohibited area,
In this application due to being to carry out building figure to outdoor, default road is that can travel region, and road herein should be wide
The region that can be walked for people or robot of reason and good sense solution；
S5. according to the travelable region and traveling-prohibited area and cartographic information is generated；
That is, travelable region and traveling-prohibited area are embodied in cartographic information, enable robot
Enough walked by the cartographic information；The preferred map can be the file of map.yaml format.
In some embodiments, drawing method, the acquisition road roadside are remotely built suitable for robot localization as the aforementioned
Boundary's coordinate includes:
The mapping information of figure environment is built described in acquisition；
Specifically, the mapping information can be obtained by uploading corresponding mapping file；
The characteristic point of the road is obtained in the mapping information；
Specifically, can obtain the characteristic point by image recognition technology, the characteristic point can be road serrated edge side
Edge, house edge etc. can be selected according to the planning specifically to robot movable region, be not specifically limited herein；
The coordinate on the boundary of the road is determined according to all characteristic points；
That is, each characteristic point is mapped in coordinate system, the coordinate on the boundary of the road can be obtained；Generally
, the coordinate system is absolute coordinate system；Preferably, the data text in the mapping information in addition to road can also be filtered
Part wherein the data file includes coordinate, the elevation of characteristic point, and takes coordinate points by exhibition in CAD/CASS software.
In some embodiments, drawing method, the acquisition map side are remotely built suitable for robot localization as the aforementioned
Boundary, comprising:
The mapping information of figure environment is built described in acquisition；
Specifically, the mapping information can be obtained by uploading corresponding mapping file；
Determine the maximum value and minimum value in the direction x, y in the mapping information；
Specifically, x can be obtainedmax、ymax、xmin、ymin；
The map boundary line is obtained according to the maximum value in the direction x, y and minimum value；
Specifically, according to point (xmax, ymax)、(xmax, ymin)、(xmin, ymax)、(xmin, ymin) shape that surrounds obtains institute
State map boundary line.By obtaining the map boundary line, can make because when later period robot can be with location navigation by the map,
Present map_server can directly be borrowed and import map, but use can not be then introduced directly by directlying adopt mapping.
In some embodiments, drawing method remotely is built suitable for robot localization as the aforementioned, it is described according to the road
Road boundary coordinate obtains the boundary of road, comprising:
The road boundary coordinate is sequentially connected by pl multi-section-line, obtains the boundary of the road.
Specifically, only head and the tail two o'clock, which need to be connected, can be obtained the boundary of the road when road is straight line；Work as road
When the case where being bending, then need to obtain the boundary of the road by fitting.
In some embodiments, drawing method remotely is built suitable for robot localization as the aforementioned, according to the road
Boundary determines the travelable region and traveling-prohibited area in the map frame, comprising:
Preset the color for filling traveling-prohibited area；
The travelable region in the map frame is obtained according to the boundary of the road；And
The traveling-prohibited area；
The traveling-prohibited area is filled by the color；
Specifically, the infeasible region in map frame uses on laser map not when robot carries out laser positioning
Feasible color filling, without filling on road, due to using SLAM map in the prior art, it is preferred that finally protect map
Png picture wide, that high-resolution is equal is saved as, the later period is allow directly using existing software package, to reduce later stage work amount, keep away
The work for importing mapping program must be write by exempting from remotely to have built figure.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to embodiments of the present invention, it additionally provides a kind of for implementing above-mentioned remotely to build figure side suitable for robot localization
The long-range of robot localization that be suitable for of method builds map device, as shown in Fig. 2, the device includes:
Road boundary coordinate unit 1, for obtaining the road boundary coordinate built in figure environment；And
Map boundary line unit 2, for obtaining map boundary line；
Road boundary unit 3, for obtaining the boundary of road according to the road boundary coordinate；
Area division unit 4, it is described travelable in the map frame for being determined according to the boundary of the road
Region and traveling-prohibited area；
Map generation unit 5, for according to the travelable region and traveling-prohibited area and generating cartographic information.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, map device is remotely built suitable for robot localization as the aforementioned, the road boundary is sat
Marking unit includes:
First mapping information obtains module, for obtaining the mapping information for building figure environment；
Characteristic point obtains module, for obtaining the characteristic point of the road in the mapping information；
Boundary coordinate determining module, the coordinate on the boundary for determining the road according to all characteristic points.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, map device, the map boundary line list are remotely built suitable for robot localization as the aforementioned
Member includes:
Second Surveying And Mapping data obtaining module, for obtaining the mapping information for building figure environment；
Endpoint determining module, for determining the maximum value and minimum value in the direction x, y in the mapping information；
Boundary determining module, for obtaining the map boundary line according to the maximum value and minimum value in the direction x, y.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, map device, the road boundary list are remotely built suitable for robot localization as the aforementioned
Member is specifically used for:
The road boundary coordinate is sequentially connected by pl multi-section-line, obtains the boundary of the road.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, map device, the region division list are remotely built suitable for robot localization as the aforementioned
Member includes:
Color determination module presets the color for filling traveling-prohibited area；
Region division module, for obtaining the travelable area in the map frame according to the boundary of the road
Domain；And the traveling-prohibited area；
Module is filled, for the traveling-prohibited area to be filled by the color.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of remotely build drawing method suitable for robot localization characterized by comprising
Obtain the road boundary coordinate built in figure environment；And
Obtain map boundary line；
The boundary of road is obtained according to the road boundary coordinate；
Travelable region and traveling-prohibited area in the map frame are determined according to the boundary of the road；
According to the travelable region and traveling-prohibited area and generate cartographic information.
2. according to claim 1 remotely build drawing method suitable for robot localization, which is characterized in that the acquisition road
Road boundary coordinate includes:
The mapping information of figure environment is built described in acquisition；
The characteristic point of the road is obtained in the mapping information；
The coordinate on the boundary of the road is determined according to all characteristic points.
3. according to claim 1 remotely build drawing method suitable for robot localization, which is characterized in that the acquisition ground
Figure boundary, comprising:
The mapping information of figure environment is built described in acquisition；
Determine the maximum value and minimum value in the direction x, y in the mapping information；
The map boundary line is obtained according to the maximum value in the direction x, y and minimum value.
4. according to claim 1 remotely build drawing method suitable for robot localization, which is characterized in that described according to institute
It states road boundary coordinate and obtains the boundary of road, comprising:
The road boundary coordinate is sequentially connected by pl multi-section-line, obtains the boundary of the road.
5. according to claim 1 remotely build drawing method suitable for robot localization, which is characterized in that according to the road
The boundary on road determines the travelable region and traveling-prohibited area in the map frame, comprising:
Preset the color for filling traveling-prohibited area；
The travelable region in the map frame is obtained according to the boundary of the road；And
The traveling-prohibited area；
The traveling-prohibited area is filled by the color.
6. a kind of remotely build map device suitable for robot localization characterized by comprising
Road boundary coordinate unit, for obtaining the road boundary coordinate built in figure environment；And
Map boundary line unit, for obtaining map boundary line；
Road boundary unit, for obtaining the boundary of road according to the road boundary coordinate；
Area division unit, for determining travelable region in the map frame and not according to the boundary of the road
It can travel region；
Map generation unit, for according to the travelable region and traveling-prohibited area and generating cartographic information.
7. according to claim 6 remotely build map device suitable for robot localization, which is characterized in that the road roadside
Boundary's coordinate unit includes:
First mapping information obtains module, for obtaining the mapping information for building figure environment；
Characteristic point obtains module, for obtaining the characteristic point of the road in the mapping information；
Boundary coordinate determining module, the coordinate on the boundary for determining the road according to all characteristic points.
8. according to claim 6 remotely build map device suitable for robot localization, which is characterized in that the map side
Boundary's unit includes:
Second Surveying And Mapping data obtaining module, for obtaining the mapping information for building figure environment；
Endpoint determining module, for determining the maximum value and minimum value in the direction x, y in the mapping information；
Boundary determining module, for obtaining the map boundary line according to the maximum value and minimum value in the direction x, y.
9. according to claim 6 remotely build map device suitable for robot localization, which is characterized in that the road roadside
Boundary's unit is specifically used for:
The road boundary coordinate is sequentially connected by pl multi-section-line, obtains the boundary of the road.
10. according to claim 6 remotely build map device suitable for robot localization, which is characterized in that the region
Division unit includes:
Color determination module presets the color for filling traveling-prohibited area；
Region division module, for obtaining the travelable region in the map frame according to the boundary of the road；With
And the traveling-prohibited area；
Module is filled, for the traveling-prohibited area to be filled by the color.
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