CN110414353A - Robot booting positioning, operation method for relocating, electronic equipment and storage medium - Google Patents
Robot booting positioning, operation method for relocating, electronic equipment and storage medium Download PDFInfo
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- CN110414353A CN110414353A CN201910564615.XA CN201910564615A CN110414353A CN 110414353 A CN110414353 A CN 110414353A CN 201910564615 A CN201910564615 A CN 201910564615A CN 110414353 A CN110414353 A CN 110414353A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The present embodiments relate to a kind of booting positioning of robot, operation method for relocating, electronic equipment and storage mediums, the described method includes: pose data and image data based on acquisition construct the booting reorientation database of the robot when robot is in booting region；The starting-up image when robot is in booting position is obtained, multiple similar images are matched from booting reorientation database according to the starting-up image；Corresponding booting pose when determining that the robot is in booting position based on the similar image, constructs map by visual information, realizes the pose that robot automatically confirms that itself in booting.
Description
Technical field
The present embodiments relate to robot field more particularly to a kind of robot booting positioning, operation method for relocating,
Electronic equipment and storage medium.
Background technique
With the development of information technology, automatic control technology, robot has stepped into people's daily life, can be multiple
Under heterocycle border replace human work, and have contexture by self, self-organizing, adaptive ability, such as view-based access control model position immediately and
The storage autonomous mobile robot of map structuring (Simultaneous Localization And Mapping, SLAM) navigation
(Autonomous Mobile Robot, AMR) can be navigated by SLAM and complete the carrying of cargo.
In the prior art, AMR robot is mainly realized by Multi-sensor Fusion mode while positioning and constructing map, so
And for complex scene and wide scene, it is easy to appear the problem for causing map structuring inaccurate by cumulative errors.
Summary of the invention
In consideration of it, to solve above-mentioned technical problem or partial technical problems, the embodiment of the present invention provides a kind of robot and opens
Machine positioning, operation method for relocating, electronic equipment and storage medium.
In a first aspect, the embodiment of the present invention provides a kind of robot startup locating method, comprising:
When robot is in booting region, pose data and image data based on acquisition construct opening for the robot
Machine relocates database；
The starting-up image when robot is in booting position is obtained, is reset according to the starting-up image from the booting
Multiple similar images are matched in the database of position；
Determine that the robot is in the corresponding booting pose in booting position based on the similar image.
In a possible embodiment, it is described according to the starting-up image from the booting reorientation database in
Allot multiple similar images, comprising:
It is matched from the booting reorientation database and is greater than the multiple of first threshold with the starting-up image similarity
The similar image.
In a possible embodiment, the method, further includes:
Characteristic matching is carried out to the starting-up image and the similar image, determines the starting-up image and the similar diagram
The correct logarithm of characteristic matching as between；
If the correct logarithm of characteristic matching is greater than second threshold, the starting-up image and the similar image are obtained
Between feature in point；
If point is greater than third threshold value in the feature, it is determined that the similar image is the associated diagram of the starting-up image
Picture.
In a possible embodiment, described to determine that the robot is in booting position based on the similar image
Corresponding booting pose, comprising:
Determine that the robot is in the corresponding booting position in booting position based on putting in the associated images and the feature
Appearance.
In a possible embodiment, the pose data and image data based on acquisition construct the robot
Booting relocate database, comprising:
By image capture device according to the Rule image data of setting；
Characteristic information is extracted from described image data；
The pose data that described image data correspond to robot are obtained by laser radar；
The pose data and the characteristic information are stored in the booting reorientation database.
In a possible embodiment, the rule of the setting includes at least following one:
Current image date linear distance corresponding with a upper image data be greater than the 4th threshold value, current image date with it is upper
The angle of the primary optical axis of the image capture device of one image data is greater than the 5th threshold value or current image date and a upper picture number
According to acquisition time interval be greater than the 6th threshold value.
Second aspect, the embodiment of the present invention provide a kind of robot operation method for relocating, comprising:
When robot is in operating status, pose data and image data based on acquisition construct the fortune of the robot
Row reorientation database；
Obtain the robot it is in operating status when operation image and operation pose, according to the operation pose from institute
It states in operation reorientation database and matches N number of history image；
The corresponding standard pose of the operation image is determined based on the history image.
In a possible embodiment, it is described according to the operation pose from the operation reorientation database in
Allot N number of history image, comprising:
The N number of history figure for meeting preset condition with the operation pose is matched from the operation reorientation database
Picture；
Wherein, the preset condition includes: the pose number of the operation pose and the operation reorientation database purchase
According to Euclidean distance history image corresponding less than the 5th threshold value.
In a possible embodiment, the method, further includes:
Characteristic matching is carried out to the operation image and the history image, determines the operation image and the history figure
The correct logarithm of characteristic matching as between；
If the correct logarithm of characteristic matching is greater than second threshold, the operation image and the history image are obtained
Between feature in point；
If point is greater than third threshold value in the feature, it is determined that the history image is the associated diagram of the starting-up image
Picture.
In a possible embodiment, described that the corresponding standard of the operation image is determined based on the history image
Pose, comprising:
The corresponding standard pose of the operation image is determined based on putting in the associated images and the feature.
The third aspect, the embodiment of the present invention provide a kind of electronic equipment, comprising: processor and memory, the processor
For executing the robot stored in the memory booting positioning or robot operation relocatable program, to realize above-mentioned first
Robot fortune described in any one of robot startup locating method described in any one of aspect, or the above-mentioned second aspect of realization
Row method for relocating.
Fourth aspect, the embodiment of the present invention provide a kind of storage medium, and the storage medium is stored with one or more
Program, one or more of programs can be executed by one or more processor, any in above-mentioned first aspect to realize
Robot described in any one of robot startup locating method described in, or the above-mentioned second aspect of realization runs reorientation side
Method.
Robot booting locating scheme provided in an embodiment of the present invention, by being based on when robot is in booting region
The pose data and image data of acquisition construct the booting reorientation database of the robot；Obtain the robot be in open
Starting-up image when seat in the plane is set matches multiple similar diagrams from booting reorientation database according to the starting-up image
Picture；Corresponding booting pose, passes through visual information structure when determining that the robot is in booting position based on the similar image
Map is built, the pose that robot automatically confirms that itself in booting is realized.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of robot startup locating method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another robot startup locating method provided in an embodiment of the present invention；
Fig. 3 is the flow diagram that a kind of robot provided in an embodiment of the present invention runs method for relocating；
Fig. 4 is the flow diagram that another robot provided in an embodiment of the present invention runs method for relocating；
Fig. 5 is a kind of structural schematic diagram of positioning device that is switched on provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram that a kind of operation provided in an embodiment of the present invention resets equipment；
Fig. 7 is the structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of another electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In order to facilitate understanding of embodiments of the present invention, it is further explained below in conjunction with attached drawing with specific embodiment
Bright, embodiment does not constitute the restriction to the embodiment of the present invention.
Fig. 1 is a kind of flow diagram of robot startup locating method provided in an embodiment of the present invention, as shown in Figure 1,
This method specifically includes:
S11, when robot is in booting region, pose data based on acquisition and image data construct the robot
Booting relocate database.
The robot startup locating method of the present embodiment is applied to robot before booting region execution power-on operation
Scene obtains image data by image capture device, obtains machine by laser radar when robot reaches booting region
The current pose data of people are based on multiple groups pose data and figure by repeatedly acquiring multiple groups pose data and image data
As the booting of data building robot relocates database.
It should be noted that the data of booting reorientation database can be sky, when booting is reset before robot booting
When position data inventory contains the pose data and image data of setting quantity, it can suspend and obtain pose data and image data building
The step of booting reorientation database.
S12, the starting-up image when robot is in booting position is obtained, according to the starting-up image from the booting
Multiple similar images are matched in reorientation database.
When robot is switched on position, the starting-up image of robot is obtained by image capture device, according to the booting figure
As matching multiple similar images from booting reorientation database, wherein each similar image is corresponding with a pose.
Further, the mode that aspect ratio pair can be used matches multiple similar images from booting reorientation database,
For example, using the image with starting-up image characteristic similarity greater than 80% as similar image.
S13, determine that the robot is in the corresponding booting pose in booting position based on the similar image.
It determines that multiple similar images correspond to pose, obtains multiple similar poses, calculated according to obtained multiple similar poses
Robot is in the corresponding booting pose of starting-up image obtained when booting position.
Robot startup locating method provided in an embodiment of the present invention, by being based on when robot is in booting region
The pose data and image data of acquisition construct the booting reorientation database of the robot；Obtain the robot be in open
Starting-up image when seat in the plane is set matches multiple similar diagrams from booting reorientation database according to the starting-up image
Picture；Corresponding booting pose, passes through visual information structure when determining that the robot is in booting position based on the similar image
Map is built, the pose that robot automatically confirms that itself in booting is realized.
Fig. 2 is the flow diagram of another robot startup locating method provided in an embodiment of the present invention, such as Fig. 2 institute
Show, this method specifically includes:
S201, by image capture device according to the Rule image data of setting.
When robot reaches booting region, by image capture device according to the Rule image data of setting, institute
The rule for stating setting includes at least following one: current image date linear distance corresponding with a upper image data is greater than the 4th
The angle of the primary optical axis of the image capture device of threshold value, current image date and a upper image data is greater than the 5th threshold value, or works as
The acquisition time interval of preceding image data and a upper image data is greater than the 6th threshold value.
Further, the 4th threshold value, the 5th threshold value and the 6th threshold value can be set according to actual needs, for example,
4th threshold value is 1-3m, and the 5th threshold value is 15 °, and the 6th threshold value is 3s etc., and the present embodiment is not to the 4th threshold value, the 5th threshold value and the
The specific value of six threshold values is defined.
It should be understood that the present embodiment image data, starting-up image, similar image and the associated images that are related to can be with
It is key frame images.
S202, characteristic information is extracted from described image data.
Characteristic information is extracted from the image data got, taking characteristic information may include: that characteristics of image and feature are retouched
Son is stated, characteristics of image is used to characterize the key point in image data, and Feature Descriptor is used for the topical manifestations of characteristic feature point.
S203, the pose data that described image data correspond to robot are obtained by laser radar.
While using image capture device acquisition image data, the current position of robot is obtained by laser radar
Appearance data, image data take characteristic information and pose data for one-to-one relationship, and three can be regarded as primary complete acquisition
Process, can also using image data, take characteristic information and pose data as one group of complete data.
S204, the pose data and the characteristic information are stored in the booting reorientation database.
By image data, characteristic information and pose data is taken to be stored in booting reorientation database, passes through setting booting weight
The data volume of the storage of location database, it is ensured that when booting reorientation database is not up to the data of the data volume, machine
The image capture device and laser radar of people is constantly in the state for obtaining image data and pose data.
Further, booting reorientation database storage data volume it is to be understood that storage image data, take spy
Reference breath and pose data can achieve robot booting condition, when be stored in booting reorientation database image data,
When characteristic information and pose data being taken to reach the data volume, the step of being switched on is can be performed in robot, is specifically please referred to, S205-
S210。
S205, starting-up image of the robot in booting position when is obtained.
When the data of the booting reorientation database purchase of robot meet compressor start up condition, robot passes through Image Acquisition
Equipment acquires starting-up image when it is in booting position, and starting-up image can be key frame images.
Further, characteristics of image and Feature Descriptor are extracted from the key frame images.
S206, it matches with the starting-up image similarity from the booting reorientation database greater than first threshold
Multiple similar images.
Specifically, it matches and is switched on from booting reorientation database using bag of words (Bag of Word, BoW)
Image similarity is greater than multiple similar images of first threshold, for example, the similarity of two images to be greater than to 80% image
As similar image.
S207, characteristic matching is carried out to the starting-up image and the similar image, determines the starting-up image and described
The correct logarithm of characteristic matching between similar image.
Starting-up image and similar image are subjected to characteristic matching by the way of characteristic matching, e.g., using starting-up image
Characteristic information (characteristics of image and Feature Descriptor) is matched with the characteristic information (characteristic information) of similar image, determines booting
The correct logarithm of characteristic matching between image and multiple similar images.
If S208, the correct logarithm of the characteristic matching are greater than second threshold, the starting-up image and the phase are obtained
Like point in the feature between image.
After determining the correct logarithm of characteristic matching, judging characteristic matches the second threshold size of correct logarithm and setting, when
Characteristic matching correct logarithm executes S208 and verifies to the result further progress of characteristic matching when being greater than second threshold, when feature
The step of obtaining similar image is re-executed no more than second threshold with correct logarithm.
Specifically, booting figure is fitted using random sampling unification algorism (Random Sample Consensus, RANSAC)
As obtaining the quantity put in the feature between two images with the basis matrix between similar image, and quantity is put in judging characteristic
With the size of third threshold value, S209 is executed when if point being greater than third threshold value in feature.
If point is greater than third threshold value in S209, the feature, it is determined that the similar image is the starting-up image
Associated images.
When the quantity put in feature is greater than third threshold value, it is determined that the associated images and starting-up image are on visual signature
There are correlations, and using the similar image as the associated images of starting-up image.
S210, based on the determining robot is put in the associated images and the feature, in being switched on, position is corresponding to be opened
Seat in the plane appearance.
PnP (Perspective-n-Point) algorithm computing machine is used according to point in determining associated images and feature
People is in the corresponding booting pose in booting position, which can be used for posture when guidance machine people's open state.
Robot startup locating method provided in an embodiment of the present invention, by being based on when robot is in booting region
The pose data and image data of acquisition construct the booting reorientation database of the robot；Obtain the robot be in open
Starting-up image when seat in the plane is set matches multiple similar diagrams from booting reorientation database according to the starting-up image
Picture；Corresponding booting pose, passes through visual information structure when determining that the robot is in booting position based on the similar image
Map is built, the pose that robot automatically confirms that itself in booting is realized.
Fig. 3 is the flow diagram that a kind of robot provided in an embodiment of the present invention runs method for relocating, such as Fig. 3 institute
Show, this method specifically includes:
S31, when robot is in operating status, pose data based on acquisition and image data construct the robot
Operation relocate database.
What the robot operation method for relocating of the present embodiment was relocated when in operating status applied to robot
Scene obtains image data by image capture device in robot operational process, obtains robot by laser radar
Current pose data are based on multiple groups pose data and picture number by repeatedly acquiring multiple series of images data and pose data
Database is relocated according to the operation of building robot.
Operation image and operation pose when S32, the acquisition robot are in operating status, according to the operation pose
N number of history image is matched from operation reorientation database.
Robot in the process of running, passes through operation figure of image capture device acquisition robot when in operating status
Picture passes through operation pose of laser radar acquisition robot when in operating status；It is relocated based on the operation pose from operation
The N number of history image for meeting preset condition is matched in database.
Further, preset condition may is that Euclidean distance meets the value set between operation pose and pose data.
S33, the corresponding standard pose of the operation image is determined based on the history image.
It determines the corresponding pose of N number of history image, obtains N number of history pose, according to N number of history image and operation image
Feature calculation goes out robot and is in the corresponding standard pose in current location, and the standard pose is different from operation pose, runs pose
For the pose for having neither part nor lot in vision closed loop, standard pose is the pose after vision closed loop.
Robot provided in this embodiment runs method for relocating, by when robot is in operating status, based on obtaining
The pose data and image data taken construct the operation reorientation database of the robot；It obtains the robot and is in operation
Operation image and operation pose when state are matched from operation reorientation database N number of according to the operation pose
History image；The corresponding standard pose of the operation image is determined based on the history image, and machine can be realized by visual information
Any position automatic positioning of device people in the process of running, and amendment radar fix bring error, using making positioning by oneself
Pose builds figure, improves the accuracy of map structuring.
Fig. 4 is the flow diagram that another robot provided in an embodiment of the present invention runs method for relocating, such as Fig. 4 institute
Show, this method specifically includes:
S401, by image capture device according to the Rule image data of setting.
S402, characteristic information is extracted from described image data.
S403, the pose data that described image data correspond to robot are obtained by laser radar.
S404, the pose data and the characteristic information are stored in the booting reorientation database.
S401-S404 is similar with the S201-S204 in Fig. 2, and what region was to construct in Fig. 2 is booting reorientation data
Library, the present embodiment building are booting reorientation database, are succinct description, here, not repeating.
It should be understood that the present embodiment image data, operation image, history image and the associated images that are related to can be with
It is key frame images.
Operation image and operation pose when S405, the acquisition robot are in operating status.
Robot in the process of running, passes through operation figure of image capture device acquisition robot when in operating status
Picture passes through operation pose of laser radar acquisition robot when in operating status.
S406, it is matched from operation reorientation database and meets the N number of of preset condition with the operation pose and go through
History image.
Wherein, the preset condition includes: the pose number of the operation pose and the operation reorientation database purchase
According to Euclidean distance history image corresponding less than the 5th threshold value.
For example, the Euclidean l of the pose data of operation pose and operation reorientation database purchase is determined, by the pose of l < r
The corresponding image data of data is as history image, wherein r is the 5th threshold value, and e.g., r=0.1m specifically can be according to practical feelings
Condition is set, and the present embodiment does not set the specific value of the 5th threshold value.
S407, characteristic matching is carried out to the operation image and the history image, determines the operation image and described
The correct logarithm of characteristic matching between history image.
Operation image and history image are subjected to characteristic matching by the way of characteristic matching, e.g., using operation image
Characteristic information (characteristics of image and Feature Descriptor) is matched with the characteristic information (characteristic information) of history image, determines operation
The correct logarithm of characteristic matching between image and multiple history images.
If S408, the correct logarithm of the characteristic matching are greater than second threshold, obtain the operation image and described go through
Point in feature between history image.
After determining the correct logarithm of characteristic matching, judging characteristic matches the second threshold size of correct logarithm and setting, when
Characteristic matching correct logarithm executes S408 and verifies to the result further progress of characteristic matching when being greater than second threshold, when feature
The step of obtaining history image is re-executed no more than second threshold with correct logarithm.
Specifically, the basis matrix between operation image and history image is fitted using RANSAC algorithm, obtains two images
Between feature in the quantity put, and in judging characteristic point quantity and third threshold value size, if point is greater than third threshold in feature
S409 is executed when value.
If point is greater than third threshold value in S409, the feature, it is determined that the history image is the starting-up image
Associated images.
When the quantity put in feature is greater than third threshold value, it is determined that the associated images and starting-up image are on visual signature
There are correlations, and using the history image as the associated images of operation image.
S410, the corresponding standard pose of the operation image is determined based on point in the associated images and the feature.
The corresponding normal bit in PnP algorithm calculating robot current location is used according to point in determining associated images and feature
Appearance, the standard pose can be used for guidance machine people and build figure and positioning.
Robot provided in this embodiment runs method for relocating, by when robot is in operating status, based on obtaining
The pose data and image data taken construct the operation reorientation database of the robot；It obtains the robot and is in operation
Operation image and operation pose when state are matched from operation reorientation database N number of according to the operation pose
History image；The corresponding standard pose of the operation image is determined based on the history image, and machine can be realized by visual information
Any position automatic positioning of device people in the process of running, and amendment radar fix bring error, using making positioning by oneself
Pose builds figure, improves the accuracy of map structuring.
Fig. 5 is a kind of structural schematic diagram of positioning device that is switched on provided in an embodiment of the present invention, as shown in figure 5, the equipment
It specifically includes:
Module 501 is constructed, is used for when robot is in booting region, pose data and image data structure based on acquisition
Build the booting reorientation database of the robot；
Module 502 is obtained, for obtaining the starting-up image when robot is in booting position, is schemed according to the booting
As matching multiple similar images from booting reorientation database；
Determining module 503, for determining that the robot is in the corresponding booting in booting position based on the similar image
Pose.
Optionally, the acquisition module 502 is opened specifically for matching from booting reorientation database with described
Machine image similarity is greater than multiple similar images of first threshold.
Optionally, the determining module 503 is also used to carry out feature to the starting-up image and the similar image
Match, determines the correct logarithm of characteristic matching between the starting-up image and the similar image；If the characteristic matching is correctly right
When number is greater than second threshold, then point in the feature between the starting-up image and the similar image is obtained；If in the feature
When point is greater than third threshold value, it is determined that the similar image is the associated images of the starting-up image.
Optionally, the determining module 503, for determining the machine based on point in the associated images and the feature
People is in the corresponding booting pose in booting position.
Optionally, the building module 501, for the Rule picture number by image capture device according to setting
According to；Characteristic information is extracted from described image data；The pose that described image data correspond to robot is obtained by laser radar
Data；The pose data and the characteristic information are stored in the booting reorientation database.
Optionally, the rule of the setting includes at least following one:
Current image date linear distance corresponding with a upper image data be greater than the 4th threshold value, current image date with it is upper
The angle of the primary optical axis of the image capture device of one image data is greater than the 5th threshold value or current image date and a upper picture number
According to acquisition time interval be greater than the 6th threshold value.
Booting positioning device provided in this embodiment can be booting positioning device as shown in Figure 5, can be performed as schemed
All steps of robot startup locating method in 1-2, and then realize the technology effect of robot startup locating method shown in Fig. 1-2
Fruit specifically please refers to Fig. 1-2 associated description, and for succinct description, therefore not to repeat here.
Fig. 6 is the structural schematic diagram that a kind of operation provided in an embodiment of the present invention resets equipment, as shown in fig. 6, the equipment
It specifically includes:
Module 601 is constructed, pose data and image data structure based on acquisition when robot is in operating status are used for
Build the operation reorientation database of the robot；
Obtain module 602, for obtain the robot it is in operating status when operation image and operation pose, according to
The operation pose matches N number of history image from operation reorientation database；
Determining module 603, for determining the corresponding standard pose of the operation image based on the history image.
Optionally, the acquisition module 602, specifically for being matched and the fortune from operation reorientation database
Line position appearance meets N number of history image of preset condition；
Wherein, the preset condition includes: the pose number of the operation pose and the operation reorientation database purchase
According to Euclidean distance history image corresponding less than the 5th threshold value.
Optionally, the determining module 603 is also used to carry out feature to the operation image and the history image
Match, determines the correct logarithm of characteristic matching between the operation image and the history image；If the characteristic matching is correctly right
When number is greater than second threshold, then point in the feature between the operation image and the history image is obtained；If in the feature
When point is greater than third threshold value, it is determined that the history image is the associated images of the starting-up image.
Optionally, the determining module 603, described in being determined based on point in the associated images and the feature
The corresponding standard pose of operation image.
It is provided in this embodiment operation reset equipment can be as shown in Figure 8 operation reset equipment, can be performed as scheme
All steps of robot operation method for relocating in 3-4, and then realize the skill of the operation method for relocating of robot shown in Fig. 3-4
Art effect, specific -4 associated description referring to figure 3., for succinct description, therefore not to repeat here.
Fig. 7 is the structural schematic diagram of the electronic equipment of one kind provided in an embodiment of the present invention, which can be with machine
People, electronic equipment 700 shown in Fig. 7 include: at least one processor 701, memory 702,704 and of at least one network interface
Other users interface 703.Various components in mobile terminal 700 are coupled by bus system 705.It is understood that bus
System 705 is for realizing the connection communication between these components.Bus system 705 further includes electricity in addition to including data/address bus
Source bus, control bus and status signal bus in addition.But for the sake of clear explanation, various buses are all designated as always in Fig. 7
Linear system system 705.
Wherein, user interface 703 may include display, keyboard or pointing device (for example, mouse, trace ball
(trackball), touch-sensitive plate or touch screen etc..
It is appreciated that the memory 702 in the embodiment of the present invention can be volatile memory or nonvolatile memory,
It or may include both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read-
OnlyMemory, ROM), programmable read only memory (ProgrammableROM, PROM), Erasable Programmable Read Only Memory EPROM
(ErasablePROM, EPROM), electrically erasable programmable read-only memory (ElectricallyEPROM, EEPROM) dodge
It deposits.Volatile memory can be random access memory (RandomAccessMemory, RAM), and it is slow to be used as external high speed
It deposits.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(StaticRAM, SRAM), dynamic random access memory (DynamicRAM, DRAM), Synchronous Dynamic Random Access Memory
(SynchronousDRAM, SDRAM), double data speed synchronous dynamic RAM (DoubleDataRate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (SynchlinkDRAM, SLDRAM) and direct rambus random access memory
(DirectRambusRAM, DRRAM).Memory 702 described herein is intended to include but is not limited to these to be suitble to any other
The memory of type.
In some embodiments, memory 702 stores following element, and unit or data structure can be performed, or
Their subset of person or their superset: operating system 7021 and application program 7022.
Wherein, operating system 7021 include various system programs, such as ccf layer, core library layer, driving layer etc., are used for
Realize various basic businesses and the hardware based task of processing.Application program 7022 includes various application programs, such as media
Player (MediaPlayer), browser (Browser) etc., for realizing various applied business.Realize embodiment of the present invention side
The program of method may be embodied in application program 7022.
In embodiments of the present invention, by the program or instruction of calling memory 702 to store, specifically, can be application
The program or instruction stored in program 7022, processor 701 are used to execute method and step provided by each method embodiment, such as
Include:
When robot is in booting region, pose data and image data based on acquisition construct opening for the robot
Machine relocates database；The starting-up image when robot is in booting position is obtained, according to the starting-up image from described
Multiple similar images are matched in booting reorientation database；Determine that the robot is in booting position based on the similar image
Set corresponding booting pose.
Optionally, it is matched from booting reorientation database and is greater than first threshold with the starting-up image similarity
Multiple similar images.
Optionally, characteristic matching is carried out to the starting-up image and the similar image, determines the starting-up image and institute
State the correct logarithm of characteristic matching between similar image；If the correct logarithm of characteristic matching is greater than second threshold, obtain
Point in feature between the starting-up image and the similar image；If point is greater than third threshold value in the feature, it is determined that
The similar image is the associated images of the starting-up image.
Optionally, determine that the robot is corresponding in booting position based on point in the associated images and the feature
Be switched on pose.
Optionally, by image capture device according to the Rule image data of setting；It is mentioned from described image data
Take characteristic information；The pose data that described image data correspond to robot are obtained by laser radar；By the pose data and
The characteristic information is stored in the booting reorientation database.
Optionally, the rule of the setting includes at least following one:
Current image date linear distance corresponding with a upper image data be greater than the 4th threshold value, current image date with it is upper
The angle of the primary optical axis of the image capture device of one image data is greater than the 5th threshold value or current image date and a upper picture number
According to acquisition time interval be greater than the 6th threshold value.
The method that the embodiments of the present invention disclose can be applied in processor 701, or be realized by processor 701.
Processor 701 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 701 or the instruction of software form.Above-mentioned processing
Device 701 can be general processor, digital signal processor (DigitalSignalProcessor, DSP), specific integrated circuit
(ApplicationSpecific IntegratedCircuit, ASIC), ready-made programmable gate array
(FieldProgrammableGateArray, FPGA) either other programmable logic device, discrete gate or transistor logic
Device, discrete hardware components.It may be implemented or execute disclosed each method, step and the logical box in the embodiment of the present invention
Figure.General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with the present invention
The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or use decoding processor
In hardware and software unit combination execute completion.Software unit can be located at random access memory, and flash memory, read-only memory can
In the storage medium of this fields such as program read-only memory or electrically erasable programmable memory, register maturation.The storage
Medium is located at memory 702, and processor 701 reads the information in memory 702, and the step of the above method is completed in conjunction with its hardware
Suddenly.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuit (Application
SpecificIntegratedCircuits, ASIC), digital signal processor (DigitalSignalProcessing, DSP),
Digital signal processing appts (DSPDevice, DSPD), programmable logic device (ProgrammableLogicDevice, PLD),
Field programmable gate array (Field-ProgrammableGateArray, FPGA), general processor, controller, microcontroller
In device, microprocessor, other electronic units for executing herein described function or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
Electronic equipment provided in this embodiment can be electronic equipment as shown in Figure 7, can be performed such as machine in Fig. 1-2
All steps of people's startup locating method, and then realize the technical effect of robot startup locating method shown in Fig. 1-2, specifically ask
- 2 associated description referring to Fig.1, for succinct description, therefore not to repeat here.
The embodiment of the invention also provides a kind of storage medium (computer readable storage mediums).Here storage medium is deposited
Contain one or more program.Wherein, storage medium may include volatile memory, such as random access memory；It deposits
Reservoir also may include nonvolatile memory, such as read-only memory, flash memory, hard disk or solid state hard disk；Memory
It can also include the combination of the memory of mentioned kind.
It is above-mentioned in machine to realize when one or more program can be executed by one or more processor in storage medium
The robot startup locating method that device people booting positioning device side executes.
The processor is used to execute the robot booting finder stored in memory, following in robot to realize
The step of robot startup locating method that booting positioning device side executes:
When robot is in booting region, pose data and image data based on acquisition construct opening for the robot
Machine relocates database；The starting-up image when robot is in booting position is obtained, according to the starting-up image from described
Multiple similar images are matched in booting reorientation database；Determine that the robot is in booting position based on the similar image
Set corresponding booting pose.
Optionally, it is matched from booting reorientation database and is greater than first threshold with the starting-up image similarity
Multiple similar images.
Optionally, characteristic matching is carried out to the starting-up image and the similar image, determines the starting-up image and institute
State the correct logarithm of characteristic matching between similar image；If the correct logarithm of characteristic matching is greater than second threshold, obtain
Point in feature between the starting-up image and the similar image；If point is greater than third threshold value in the feature, it is determined that
The similar image is the associated images of the starting-up image.
Optionally, determine that the robot is corresponding in booting position based on point in the associated images and the feature
Be switched on pose.
Optionally, by image capture device according to the Rule image data of setting；It is mentioned from described image data
Take characteristic information；The pose data that described image data correspond to robot are obtained by laser radar；By the pose data and
The characteristic information is stored in the booting reorientation database.
Optionally, the rule of the setting includes at least following one:
Current image date linear distance corresponding with a upper image data be greater than the 4th threshold value, current image date with it is upper
The angle of the primary optical axis of the image capture device of one image data is greater than the 5th threshold value or current image date and a upper picture number
According to acquisition time interval be greater than the 6th threshold value.
Fig. 8 is the structural schematic diagram of the electronic equipment of another kind provided in an embodiment of the present invention, which can be with machine
Device people, electronic equipment 800 shown in Fig. 8 include: at least one processor 801, memory 802, at least one network interface 804
With other users interface 803.Various components in mobile terminal 800 are coupled by bus system 805.
In processor 801, memory 802, other users interface 803, network interface 804 and bus system 805 and such as Fig. 7
Processor 701, memory 702, other users interface 703, network interface 704 it is similar with bus system 705, specifically can refer to
The associated description of the part Fig. 7 describes to be succinct, here, not repeating.
In embodiments of the present invention, by the program or instruction of calling memory 802 to store, specifically, can be application
The program or instruction stored in program 8022, processor 801 are used to execute method and step provided by each method embodiment, such as
Include:
When robot is in operating status, pose data and image data based on acquisition construct the fortune of the robot
Row reorientation database；Obtain the robot it is in operating status when operation image and operation pose, according to the operation
Pose matches N number of history image from operation reorientation database；The operation figure is determined based on the history image
As corresponding standard pose.
Optionally, it is matched from operation reorientation database and meets the N number of of preset condition with the operation pose
History image；Wherein, the preset condition includes: the pose number of the operation pose and the operation reorientation database purchase
According to Euclidean distance history image corresponding less than the 5th threshold value.
Optionally, characteristic matching is carried out to the operation image and the history image, determines the operation image and institute
State the correct logarithm of characteristic matching between history image；If the correct logarithm of characteristic matching is greater than second threshold, obtain
Point in feature between the operation image and the history image；If point is greater than third threshold value in the feature, it is determined that
The history image is the associated images of the starting-up image.
Optionally, the corresponding standard pose of the operation image is determined based on point in the associated images and the feature.
The method that the embodiments of the present invention disclose can be applied in processor 801, or be realized by processor 801.
Processor 801 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 801 or the instruction of software form.May be implemented or
Person executes disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be microprocessor or
Person's processor is also possible to any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be straight
Connect and be presented as that hardware decoding processor executes completion, or in decoding processor hardware and software unit combination executed
At.Software unit can be located at random access memory, and flash memory, read-only memory, programmable read only memory or electrically-erasable can
In the storage medium of this fields such as programmable memory, register maturation.The storage medium is located at memory 802, and processor 801 is read
Information in access to memory 802, in conjunction with the step of its hardware completion above method.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuit (Application
SpecificIntegratedCircuits, ASIC), digital signal processor (DigitalSignalProcessing, DSP),
Digital signal processing appts (DSPDevice, DSPD), programmable logic device (ProgrammableLogicDevice, PLD),
Field programmable gate array (Field-ProgrammableGateArray, FPGA), general processor, controller, microcontroller
In device, microprocessor, other electronic units for executing herein described function or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
Electronic equipment provided in this embodiment can be electronic equipment as shown in Figure 8, can be performed such as machine in Fig. 3-4
People runs all steps of method for relocating, and then realizes the technical effect of the operation method for relocating of robot shown in Fig. 3-4, tool
Body -4 associated description referring to figure 3., for succinct description, therefore not to repeat here.
The embodiment of the invention also provides a kind of storage medium (computer readable storage mediums).Here storage medium is deposited
Contain one or more program.Wherein, storage medium may include volatile memory, such as random access memory；It deposits
Reservoir also may include nonvolatile memory, such as read-only memory, flash memory, hard disk or solid state hard disk；Memory
It can also include the combination of the memory of mentioned kind.
It is above-mentioned in machine to realize when one or more program can be executed by one or more processor in storage medium
Device people runs the robot that reorientation equipment side executes and runs method for relocating.
The processor is used to execute the robot operation relocatable program stored in memory, following in machine to realize
People runs the step of robot that reorientation equipment side executes runs method for relocating:
When robot is in operating status, pose data and image data based on acquisition construct the fortune of the robot
Row reorientation database；Obtain the robot it is in operating status when operation image and operation pose, according to the operation
Pose matches N number of history image from operation reorientation database；The operation figure is determined based on the history image
As corresponding standard pose.
Optionally, it is matched from operation reorientation database and meets the N number of of preset condition with the operation pose
History image；Wherein, the preset condition includes: the pose number of the operation pose and the operation reorientation database purchase
According to Euclidean distance history image corresponding less than the 5th threshold value.
Optionally, characteristic matching is carried out to the operation image and the history image, determines the operation image and institute
State the correct logarithm of characteristic matching between history image；If the correct logarithm of characteristic matching is greater than second threshold, obtain
Point in feature between the operation image and the history image；If point is greater than third threshold value in the feature, it is determined that
The history image is the associated images of the starting-up image.
Optionally, the corresponding standard pose of the operation image is determined based on point in the associated images and the feature.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (12)
1. a kind of robot startup locating method characterized by comprising
When robot is in booting region, pose data and image data based on acquisition construct the booting weight of the robot
Location database；
The starting-up image when robot is in booting position is obtained, digit is reset from the booting according to the starting-up image
According to matching multiple similar images in library；
Determine that the robot is in the corresponding booting pose in booting position based on the similar image.
2. the method according to claim 1, wherein described relocate according to the starting-up image from the booting
Multiple similar images are matched in database, comprising:
It is matched from the booting reorientation database and is greater than the multiple described of first threshold with the starting-up image similarity
Similar image.
3. according to the method described in claim 2, it is characterized in that, the method, further includes:
Characteristic matching is carried out to the starting-up image and the similar image, determine the starting-up image and the similar image it
Between the correct logarithm of characteristic matching；
If the correct logarithm of characteristic matching is greater than second threshold, obtain between the starting-up image and the similar image
Feature in point；
If point is greater than third threshold value in the feature, it is determined that the similar image is the associated images of the starting-up image.
4. according to the method described in claim 3, it is characterized in that, described determined at the robot based on the similar image
In the corresponding booting pose in booting position, comprising:
Determine that the robot is in the corresponding booting pose in booting position based on putting in the associated images and the feature.
5. the method according to claim 1, wherein pose data and the image data building based on acquisition
The booting of the robot relocates database, comprising:
By image capture device according to the Rule image data of setting；
Characteristic information is extracted from described image data；
The pose data that described image data correspond to robot are obtained by laser radar；
The pose data and the characteristic information are stored in the booting reorientation database.
6. according to the method described in claim 5, it is characterized in that, the rule of the setting includes at least following one:
Current image date linear distance corresponding with a upper image data is greater than the 4th threshold value, current image date and a upper figure
As the angle of the primary optical axis of the image capture device of data is greater than the 5th threshold value or current image date and a upper image data
Acquisition time interval is greater than the 6th threshold value.
7. a kind of robot runs method for relocating characterized by comprising
When robot is in operating status, pose data and image data based on acquisition construct the operation weight of the robot
Location database；
Obtain the robot it is in operating status when operation image and operation pose, according to the operation pose from the fortune
N number of history image is matched in row reorientation database；
The corresponding standard pose of the operation image is determined based on the history image.
8. the method according to the description of claim 7 is characterized in that described relocate according to the operation pose from the operation
N number of history image is matched in database, comprising:
The N number of history image for meeting preset condition with the operation pose is matched from the operation reorientation database；
Wherein, the preset condition includes: the pose data of the operation pose and the operation reorientation database purchase
Euclidean distance history image corresponding less than the 5th threshold value.
9. according to the method described in claim 8, it is characterized in that, the method, further includes:
Characteristic matching is carried out to the operation image and the history image, determine the operation image and the history image it
Between the correct logarithm of characteristic matching；
If the correct logarithm of characteristic matching is greater than second threshold, obtain between the operation image and the history image
Feature in point；
If point is greater than third threshold value in the feature, it is determined that the history image is the associated images of the starting-up image.
10. according to the method described in claim 9, it is characterized in that, described determine the operation figure based on the history image
As corresponding standard pose, comprising:
The corresponding standard pose of the operation image is determined based on putting in the associated images and the feature.
11. a kind of electronic equipment characterized by comprising processor and memory, the processor is for executing the storage
The robot booting positioning stored in device or robot operation relocatable program, to realize described in any one of claim 1~6
Robot startup locating method, or realize that robot described in any one of claim 7~10 runs method for relocating.
12. a kind of storage medium, which is characterized in that the storage medium is stored with one or more program, it is one or
The multiple programs of person can be executed by one or more processor, to realize that robot according to any one of claims 1 to 6 opens
Robot described in any one of machine localization method, or realization claim 7~10 runs method for relocating.
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