CN110836668A - Positioning navigation method, device, robot and storage medium - Google Patents
Positioning navigation method, device, robot and storage medium Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The embodiment of the application provides a positioning navigation method, a positioning navigation device, a robot and a storage medium. The method comprises the following steps: collecting environmental information; acquiring a first area map of a current area according to the environment information; and based on the first regional map, performing positioning and navigation operation. The technical scheme provided by the embodiment of the application can greatly increase the working area of the robot, so that the robot can realize full-scale walking work in a field with a complex environment and a large area.
Description
Technical Field
The present application relates to the field of artificial intelligence technologies, and in particular, to a positioning navigation method, an apparatus, a robot, and a storage medium.
Background
With the comprehensive development of artificial intelligence and the promotion of domestic market demands, robots have begun to be widely applied, such as cleaning robots, financial banking service robots, business and super shopping guide robots, institution foreground greeting robots, meal delivery service robots and the like.
Due to the limitation of the operation performance of the robot and the performance of the sensor, the working area of the existing robot in the market is small. Therefore, in places with large working areas and complex environments (such as superstores and amusement parks), a plurality of robots are needed, each robot can only work in a limited area, and the full-scale walking service cannot be achieved.
Disclosure of Invention
In view of the above, the present application is directed to a positioning and navigation method, apparatus, robot, and storage medium that solve the above problems, or at least partially solve the above problems.
Thus, in one embodiment of the present application, a positioning navigation method is provided. The method comprises the following steps:
collecting environmental information;
acquiring a first area map of a current area according to the environment information;
and based on the first regional map, performing positioning and navigation operation.
In another embodiment of the present application, a positioning navigation device is provided. The device, comprising:
the acquisition module is used for acquiring environmental information;
the acquisition module is used for acquiring a first area map of the current area according to the environment information;
and the execution module is used for executing positioning and navigation operations based on the first regional map.
In yet another embodiment of the present application, a robot is provided. The robot is provided with a collecting device, a memory and a processor, wherein,
the acquisition device is used for acquiring environmental information;
the memory is used for storing programs;
the processor, coupled to the acquisition device and the memory, respectively, is configured to execute the program stored in the memory to:
acquiring a first area map of a current area according to the environmental information acquired by the acquisition device;
and based on the first regional map, performing positioning and navigation operation.
In yet another embodiment of the present application, a computer-readable storage medium storing a computer program is provided. The computer program, when executed by a computer, enables:
collecting environmental information;
acquiring a first area map of a current area according to the environment information;
and based on the first regional map, performing positioning and navigation operation.
According to the technical scheme provided by the embodiment of the application, the regions are divided in advance according to the working environment, and the region map is correspondingly established according to each region. When the robot walks in a working environment, surrounding environment information is collected, and a first area map corresponding to the current area is obtained according to the environment information, so that positioning and navigation can be performed according to the first area map corresponding to the current area. Therefore, the robot can realize positioning and navigation when walking to any area in the working environment. Therefore, the technical scheme provided by the embodiment of the application can greatly increase the working area of the robot, so that the robot can realize full-scale walking work in a field with a complex environment and a large area.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flowchart of a positioning and navigation method according to an embodiment of the present application;
FIG. 2 is a block diagram of a positioning navigation device according to an embodiment of the present application;
fig. 3 is a block diagram of a robot according to an embodiment of the present disclosure.
Detailed Description
Aiming at the technical problems that the robot work area is small and the like caused by the limitation of the robot operation performance and the sensor performance in the prior art, in some embodiments of the application, some complex work environments with large areas are divided into various areas in advance, and corresponding area maps are created for the various areas. In the walking process of the robot, the area map corresponding to the current area is obtained through surrounding environment information, and therefore the robot can realize positioning navigation when walking to any area in the working environment.
The public service environment is complex, the working area range is large, and the robot needs to work back and forth alternately on different floors, which puts high requirements on the positioning navigation technology of the robot. Currently, such robots are mainly positioned and navigated by using a single map, and the positioning and navigation are performed by using one map. The method is suitable for relatively simple working environments with relatively simple terrains, but cannot be suitable for environments with different floors and different heights. In an environment with complex terrain and a large working area, the requirements on the operational performance and the sensor of the robot are high, the cost is high, and the rapid popularization is not facilitated.
The following provides a positioning and navigation method suitable for a working environment with a large working area or multiple floors and convenient for popularization.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 shows a flowchart of a positioning navigation method according to an embodiment of the present application. As shown in fig. 1, the method includes:
101. and collecting environmental information.
102. And acquiring a first area map of the current area according to the environment information.
103. And performing positioning and navigation operation based on the first regional map.
In the above 101, the robot may obtain the environmental information in real time or at preset time intervals during the walking process. The preset time interval may be set according to actual situations, and this is not specifically limited in the embodiment of the present application, for example: 2 s.
Ambient environmental information may be collected by sensors or audio collection units, including but not limited to: visual sensors, laser sensors, ultrasonic sensors, infrared sensors. Wherein, the environment information may include at least one of the following: the system comprises obstacle information acquired by a laser sensor, an ultrasonic sensor and/or an infrared sensor, an environment image acquired by a visual sensor and environment audio information acquired by an audio acquisition unit.
It should be noted that, since the robot needs to acquire the surrounding environment information through various sensors during positioning and navigation, the environment information collected due to positioning may be reused in the foregoing 101.
In 102, a local map of the current location may be constructed according to the environment information, the local map is matched with a local map corresponding to each area in the current working scene, and the matched local map is used as a first local map of the current location area; or acquiring the corresponding first area map according to the area identification information in the environment information. The region identification information can be laid at different positions of each region in the current working scene in advance, or the existing information with the region identification function in the current working scene can be directly utilized.
The area map corresponding to each area in the current working scene can be stored in the local storage of the robot or stored on the server. If the first regional map is stored in the local storage of the robot, the corresponding first regional map is searched locally according to the environmental information; if the first regional map is stored in the cloud, an acquisition request can be generated according to the environment information and sent to the server, and the first regional map fed back by the server is received. The regional map corresponding to each region is stored in the local storage of the robot, so that the robot can conveniently and quickly acquire the regional map, and network delay caused by information interaction with the server is avoided.
It should be noted that, considering that the calculation amount is large in the method of obtaining the first area map corresponding to the current area by matching the local map with each area map, and each area has a certain area, and the robot needs a certain time to walk, the step of "obtaining the first area map corresponding to the current area" may be performed once at a long time interval (for example, 5s or 10s), and the replacement of the area map may also be implemented.
In the step 103, the first area map is loaded or the second area map used for current positioning and navigation is replaced with the first area map, so that the positioning and navigation can be performed according to the first area map in the following.
According to the technical scheme provided by the embodiment of the application, the regions are divided in advance according to the working environment, and the region map is correspondingly established according to each region. When the robot walks in a working environment, surrounding environment information is collected, and a first area map corresponding to the current area is obtained according to the environment information, so that positioning and navigation can be performed according to the first area map corresponding to the current area. Therefore, the robot can realize positioning and navigation when walking to any area in the working environment. Therefore, the technical scheme provided by the embodiment of the application can greatly increase the working area of the robot, so that the robot can realize full-scale walking work in a field with a complex environment and a large area.
In an implementation scheme, the "obtaining a first area map of a current area according to environment information" in the foregoing 102 may specifically include the following steps:
1021. environmental information is identified.
1022. And if the identification result contains the area identification information, acquiring a corresponding first area map according to the area identification information.
At 1021, if the environment information includes an environment image, performing image recognition on the environment image to obtain an image recognition result; and if the environment information comprises environment audio information, performing voice recognition on the environment audio information to obtain a voice recognition result.
In 1022, the corresponding area identification information is set for each area in advance, and the area identification information corresponding to different areas is different. The area identification information may include, but is not limited to: visual identification and voice identification. Visual identifiers or voice announcers can be arranged at different positions of each area in the working environment in advance. When the robot is close to, the voice broadcaster sends out the pronunciation that has voice identification, for example: the voice broadcaster speaks: the welcome is near the second floor B area, wherein the second floor B area is the voice identification. Among other things, visual identification may include, but is not limited to: a floor icon (e.g., a character icon of "second floor"), an area icon (e.g., a character icon of "A area"), an area boundary icon, and a two-dimensional code. The zone boundary icons may be boundary bands disposed along the zone boundary line, the boundary bands of different zones differing in color and/or shape. And area information of the corresponding area can be obtained through the identification of the two-dimensional code.
The positions of the visual identification and the voice broadcast device in the current working environment can be designed and optimized according to actual needs, and the embodiment of the application is not specifically limited to the positions. For example: visual markers, voice announcers, may be provided at locations near the boundaries of the zones or at the entry locations of the zones.
Of course, the existing visual identifier or voice announcer in the current working environment can also be directly utilized, for example: in the existing shopping mall, a floor icon is usually marked at a position opposite to an elevator entrance, and each area is provided with an indication board; when the elevator arrives at a certain floor, the elevator can report that the elevator arrives at the left floor through the elevator voice announcer.
In a specific implementation scheme, the aforementioned 1022 "obtaining the corresponding first area map according to the area identification information" may specifically be implemented by the following steps:
s11a, acquiring the corresponding relation between the area identification information and the area map.
And S12a, acquiring a first area map corresponding to the area identification information contained in the identification result according to the corresponding relation.
Namely, the corresponding relation between the area identification information of each area and the area map of each area in the working environment is established in advance. And subsequently, a corresponding area map can be retrieved from the corresponding relation according to the area identification information.
In another specific implementation scheme, the aforementioned 1022, "obtaining the corresponding first area map according to the area identification information" may specifically be implemented by the following steps:
and S11b, determining the area number of the current area according to the area identification information contained in the identification result.
And S12b, searching a first area map corresponding to the area number.
For example: the area identification information includes an area icon, and the area icon displays: d area, the area number of the current area can be determined as: D.
the corresponding relation between the area number of each area and the area map of each area can be established in advance, so that the first area map corresponding to the area number of the current area can be searched subsequently according to the corresponding relation; or, the area map of each area is named by the area number of each area, so that the area map named by the area number of the current area can be searched subsequently.
Taking a multi-floor working environment as an example, the area identification information includes floor and floor area information. That is, the step S11b of "determining the area number of the current area according to the area identification information included in the identification result" specifically includes: determining the floor where the current station is located and floor area information according to the area identification information; and determining the area number according to the current floor and the floor area information. For example: the area identification information comprises a floor icon and an area icon, and the floor icon displays: displaying three floors and area icons: d area, area number is: 03-D.
In the multi-floor working environment, the robot can press the floor button, the door opening and closing button and the like of the elevator to get on or off the elevator by visual assistance and a mechanical arm in a simulated manner. The specific implementation manner can be referred to in the prior art, and is not described in detail herein.
It should be noted that, if the environment information does not include the area identification information, the positioning and navigation are continued based on the second area map used by the current positioning and navigation operation.
Since the robot acquires the environmental information at preset time intervals during walking, if the area map used for current positioning and navigation is updated based on the area identification information in the environmental information acquired each time, a large amount of running resources consumed by frequent updating will be caused. Therefore, after the first regional map is acquired each time, whether the regional map used for current positioning and navigation is correct or not can be judged, if so, the regional map is not updated, and if not, the regional map is updated. Specifically, the method may further include:
104. and acquiring a second regional map used by the current positioning and navigation operation.
105. And comparing the second area map with the first area map.
106. And if the second regional map is not consistent with the first regional map, replacing the second regional map with the first regional map.
And the second area map is the area map which is used by the robot in the current positioning and navigation operation.
In the above 105, the second area map and the first area map may be compared through map content or the second area map and the first area map may be compared through a map file name, which is not specifically limited in the embodiment of the present application.
In 106, the second area map, which is usually used for the current positioning and navigation operation, is loaded into the operating memory of the robot. If the second area map is not consistent with the first area map, the second area map is not matched with the current area, and therefore replacement is needed. The first area map may be loaded into the operating memory of the robot to replace the second area map.
Further, the method may further include:
107. and if the second regional map is consistent with the first regional map, continuing to execute positioning and navigation operations based on the second regional map.
If the second area map is consistent with the first area map, the second area map is matched with the current area, and therefore replacement is not needed. And continuing to perform positioning and navigation operations based on the second regional map.
For example: after entering the area A, the robot acquires an area map corresponding to the area A according to the first identified area identification information of the area A, and then performs positioning and navigation according to the area map of the area A. Subsequently, when the robot walks to another position of the area a, the area identification information of the area a is identified for the second time, the area map of the area a is obtained again according to the area identification information of the area a identified for the second time, and the area map comparison finds that the currently used area map is consistent with the area map obtained for the second time, that is, the robot is currently located in the area a, so that the area map does not need to be replaced.
In summary, the following steps: the regional map of the current region is quickly selected through visual assistance or voice assistance, positioning and navigation operations are carried out according to the regional map, the map retrieval range can be greatly reduced, and the requirements of the positioning and navigation on the operation load of the robot and the performance of the sensor are reduced. The technical scheme provided by the embodiment of the application can obviously reduce the requirements on the operational performance and the sensor of the robot, thereby reducing the admission threshold cost of the service robot and rapidly popularizing the floor service robot. And, through visual assistance realization getting on and off the elevator, need not to destroy current elevator setting, avoided cost, the interrupt time cost that repacking elevator control was spent to and probably introduce the risk of elevator safety control.
Fig. 2 shows a block diagram of a positioning navigation device according to an embodiment of the present application. As shown in fig. 2, the apparatus includes: an acquisition module 201, a first acquisition module 202 and an execution module 203. Wherein the content of the first and second substances,
the collection module 201 is configured to collect environmental information.
The first obtaining module 202 is configured to obtain a first area map of a current area according to the environment information.
The execution module 203 is configured to execute positioning and navigation operations based on the first area map.
According to the technical scheme provided by the embodiment of the application, the regions are divided in advance according to the working environment, and the region map is correspondingly established according to each region. When the robot walks in a working environment, surrounding environment information is collected, and a first area map corresponding to the current area is obtained according to the environment information, so that positioning and navigation can be performed according to the first area map corresponding to the current area. Therefore, the robot can realize positioning and navigation when walking to any area in the working environment. Therefore, the technical scheme provided by the embodiment of the application can greatly increase the working area of the robot, so that the robot can realize full-scale walking work in a field with a complex environment and a large area.
Further, the first obtaining module 202 may include:
an identifying unit configured to identify the environmental information;
and the acquisition unit is used for acquiring the corresponding first regional map according to the regional identification information if the identification result contains the regional identification information.
Further, the area identification information may include at least one of: visual identification and voice identification.
Further, the visual identification may include at least one of: floor icon, area boundary icon, two-dimensional code.
Further, the above apparatus may further include:
the second acquisition module is used for acquiring a second regional map used by the current positioning and navigation operation;
the comparison module is used for comparing the second regional map with the first regional map;
and the replacing module is used for replacing the second regional map with the first regional map if the second regional map is inconsistent with the first regional map.
Further, the executing module 203 may be further configured to:
and if the second regional map is consistent with the first regional map, continuing to execute positioning and navigation operations based on the second regional map.
Here, it should be noted that: the positioning navigation device provided in the above embodiments may implement the technical solutions described in the above corresponding method embodiments, and the specific implementation principles of the above modules or units may refer to the corresponding contents in the above method embodiments, which are not described herein again.
Fig. 3 is a block diagram of a robot according to an embodiment of the present disclosure. The robot includes: memory 1101, processor 1102, and acquisition device 1104. The memory 1101 may be configured to store other various data to support operations on the robot. Examples of such data include instructions for any application or method operating on the robot. The memory 1101 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The processor 1102, respectively coupled to the acquisition device 1104 and the memory 1101, is configured to execute the program stored in the memory 1101 to:
acquiring a first area map of a current area according to the environmental information acquired by the acquisition device 1104;
and performing positioning and navigation operation based on the first regional map.
When the processor 1102 executes the program in the memory 1101, the processor 1102 may also implement other functions in addition to the above functions, which may be specifically referred to the description of the foregoing embodiments. The memory 1101 may further store a region map corresponding to each region in the current working environment
Further, as shown in fig. 3, the robot further includes: communication components 1103, power components 1105, audio components 1106, and the like. Only some of the components are schematically shown in fig. 3, and the robot is not meant to comprise only the components shown in fig. 3.
Further, the capturing device 1104 may include an audio capturing unit and/or a visual sensor.
Accordingly, the present application further provides a computer-readable storage medium storing a computer program, where the computer program can implement, when executed by a computer, the following:
collecting environmental information;
acquiring a first area map of a current area according to the environment information;
and based on the first regional map, performing positioning and navigation operation.
Wherein, the computer program can also realize other steps or functions of the positioning navigation method provided by the above embodiments when being executed by a computer.
The technical solutions provided in the present application will be described below with reference to specific application scenarios to assist understanding.
Application scenario 1
In a single-layer working scene with an overlarge working area, the single-layer working scene is divided into an area A, an area B, an area C and an area D. The method comprises the following steps that corresponding visual identifiers are arranged at a plurality of positions of an area A, an area B, an area C and an area D, wherein the positions comprise a boundary position, a middle position and an entrance, the visual identifier of the area A is an icon area A, the visual identifier of the area B is an icon area B, the visual identifier of the area C is an icon area C, the visual identifier of the area D is an icon area D, and the icon areas A and D are established in advance. The robot starts to execute a work task from the area A, after the robot is started, the robot collects surrounding environment images through a visual sensor (which can be understood as a camera) and collects an icon area A on the wall of the area A, the robot can know that the robot is located in the area A currently according to the icon area A, then an area map of the area A is obtained, and positioning and navigation are carried out according to the area map of the area A subsequently.
The robot walks in A district, and when the robot was close to the voice broadcast ware to A district certain position department, this voice broadcast ware was triggered, sends out pronunciation "welcome and faces A district", and the robot can know that oneself is still in A district at present according to voice identification "A district", consequently, continues to carry out location and navigation operation according to the regional map of the A that uses at present.
Subsequently, when the robot crosses from the area a to the area B, the robot acquires the surrounding environment image through the visual sensor and acquires the icon "area B" on the ground of the area B, and the robot can know that the robot is currently located in the area B according to the icon "area B", and the area map of the area a used for current positioning and navigation can be judged to be unmatched, so that the area map of the area B needs to be acquired, and the area map of the area B is loaded into the operation memory to replace the area map of the area a.
Application scenario 2
In a multi-floor working environment (for example, comprising 1 floor and 2 floors), 1 floor is divided into a 1-floor A area and a 1-floor B area, 2 floors are divided into a 2-floor A area and a 2-floor B area, an elevator is positioned between the 1-floor A area and the 2-floor A area (namely, the elevator can reach the 2-floor A area by taking the elevator in the 1-floor A area), an icon "1-floor A area" can be arranged at the position of the 1-floor A area opposite to an elevator entrance, an icon of 2-floor A is arranged at the position of 2-floor B, which is opposite to the elevator entrance, after the robot arrives at the 2-floor A from the 1-floor A by taking the elevator, after the elevator door is opened, the robot can acquire the icon "2 floor a zone" of the right opposite side through a visual sensor, and determining that the current floor A is located in the 2-floor A according to the 2-floor A, so that a regional map of the 2-floor A is obtained for positioning and navigation.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (11)
1. A method for positioning and navigating, comprising:
collecting environmental information;
acquiring a first area map of a current area according to the environment information;
and based on the first regional map, performing positioning and navigation operation.
2. The method of claim 1, wherein obtaining a first area map of a current area according to the environment information comprises:
identifying the environmental information;
and if the identification result contains the area identification information, acquiring the corresponding first area map according to the area identification information.
3. The method of claim 2, wherein the region identification information comprises at least one of: visual identification and voice identification.
4. The method of claim 3, wherein the visual indicia comprises at least one of: floor icon, area boundary icon, two-dimensional code.
5. The method of any of claims 1 to 4, further comprising:
acquiring a second regional map used by the current positioning and navigation operation;
comparing the second area map with the first area map;
and if the second regional map is not consistent with the first regional map, replacing the second regional map with the first regional map.
6. The method of claim 5, further comprising:
and if the second regional map is consistent with the first regional map, continuing to execute positioning and navigation operations based on the second regional map.
7. A positioning and navigation device, comprising:
the acquisition module is used for acquiring environmental information;
the acquisition module is used for acquiring a first area map of the current area according to the environment information;
and the execution module is used for executing positioning and navigation operations based on the first regional map.
8. A robot is characterized in that the robot is provided with a collecting device, a memory and a processor, wherein,
the acquisition device is used for acquiring environmental information;
the memory is used for storing programs;
the processor, coupled to the acquisition device and the memory, respectively, is configured to execute the program stored in the memory to:
acquiring a first area map of a current area according to the environmental information acquired by the acquisition device;
and based on the first regional map, performing positioning and navigation operation.
9. A robot according to claim 8, characterized in that the capturing means comprise an audio capturing unit and/or a visual sensor.
10. A robot as claimed in claim 8 or 9, wherein the memory further stores a map of the area corresponding to each area in the current working environment.
11. A computer-readable storage medium storing a computer program, the computer program when executed by a computer being capable of:
collecting environmental information;
acquiring a first area map of a current area according to the environment information;
and based on the first regional map, performing positioning and navigation operation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112284395A (en) * | 2020-10-23 | 2021-01-29 | 北京京东乾石科技有限公司 | Robot positioning method and device and robot |
| CN112506178A (en) * | 2020-08-25 | 2021-03-16 | 深圳市银星智能科技股份有限公司 | Robot control method, device, terminal and medium |
| CN113568417A (en) * | 2021-09-27 | 2021-10-29 | 易普森智慧健康科技（深圳）有限公司 | Switching method and device of robot navigation map and computer readable medium |
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