CN110948478A - Method for controlling activity in designated area and robot - Google Patents
Method for controlling activity in designated area and robot Download PDFInfo
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- CN110948478A CN110948478A CN201811126148.4A CN201811126148A CN110948478A CN 110948478 A CN110948478 A CN 110948478A CN 201811126148 A CN201811126148 A CN 201811126148A CN 110948478 A CN110948478 A CN 110948478A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a method and a robot for controlling activities in a designated area, wherein the method comprises the following steps: acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information; identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot; and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme. The invention does not need to additionally add hardware equipment for position correction and the like; when the moving area of the robot needs to be changed at the later stage, manpower and material resources do not need to be spent on reconstruction on site; without adding extra deployment cost.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a method for controlling activities in a designated area and a robot.
Background
At present, the running area of the indoor robot is generally divided by using the technologies of magnetic stripes, infrared walls, bar codes, rfid and the like. And the division of the operation area can be realized by using technologies such as laser SLAM, visual SLAM, IMU inertial navigation and the like, alone or in combination of schemes. The above technologies can realize reliable functions of mapping, navigation, area limitation and the like under ideal conditions.
For the traditional modes of sticking magnetic stripes, infrared walls, bar codes, rfid and the like, not only extra deployment cost needs to be paid, but also manpower and material resources need to be spent to reconstruct on site when the moving area of the robot needs to be changed in the later period. In addition, for the infrared wall, on one hand, independent power supply is needed, and on the other hand, no shielding object can be arranged between the receiver and the infrared wall, otherwise, the infrared wall fails.
The traditional schemes of sticking magnetic strips, infrared walls, bar codes, rfid and the like have the problems of long construction period and high cost; is not suitable for scenes with frequent changes, such as large shopping malls and the like.
There is also a relatively large limitation to the laser SLAM and visual SLAM methods. For example, for a specular object or a transparent object, both of these solutions may fail and cause side effects. Moreover, if the two schemes are used, the two schemes need to be combined with other schemes for assistance, such as UWB (ultra wide band), Wifi (wireless fidelity) and Bluetooth for assistance in positioning and correction, so that more accurate position information is provided for the robot, and therefore the robot can still only perform business in a specified interval range after long-time operation; the environment such as a glass wall, a mirror wall and the like can be avoided.
In the current large-scale market, under the condition that a glass curtain and a mirror wall are widely applied in large quantities, the two schemes of the laser SLAM and the vision SLAM have the problems of failure of the schemes, need of auxiliary positioning and correction and the like; is not suitable for large-scale market environment.
For inertial navigation of the IMU, the scheme has large operation accumulated deviation, and after a few operation cycles, the position and the attitude provided by the IMU have large drift. The IMU inertial navigation mode is combined with other auxiliary positioning modes like SLAM, and attempts to solve the drift problem of the device by introducing various software and hardware filtering algorithms. The IMU inertial navigation solution cannot be applied to a large mall environment alone.
Therefore, the robot controlled to move in the designated area through the above various schemes requires additional hardware equipment or deployment cost, thereby increasing the overall cost. Especially UWB, wifi, bluetooth etc. need the scheme of laying the deployment in large tracts of land, if accomplish the deployment in whole activity place, material cost, cost of labor and maintenance cost afterwards all will be very high.
Disclosure of Invention
The invention aims to provide a method and a robot for controlling the movement in a designated area, which do not need to additionally add hardware equipment for position correction and the like; when the moving area of the robot needs to be changed at the later stage, manpower and material resources do not need to be spent on reconstruction on site; without adding extra deployment cost.
The technical scheme provided by the invention is as follows:
the invention provides a method for controlling activities in a designated area, which comprises the following steps: acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information; identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot; and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
Further preferably, the identifying whether the current position of the robot is located at the boundary of the designated area specifically includes the following steps: planning a reference line passing through the current position of the robot, and analyzing a boundary intersection point formed by the intersection of the reference line and the boundary line of the designated area; calculating the number of the single-side intersection points of the boundary intersection points positioned at the two opposite sides of the robot; when the number of the single-side intersection points is an odd number, identifying that the current position of the robot is located in a designated area; and when the number of the single-side intersection points is an even number, identifying that the current position of the robot is located outside the designated area.
Further preferably, the step of planning the reference line passing through the current position of the robot specifically includes the following steps: a reference line passing through the current position of the robot is planned in parallel with a horizontal axis or a longitudinal axis in the coordinate system; or; and a reference line passing through the current position of the robot is planned by intersecting the horizontal axis or the vertical axis in the coordinate system.
Further preferably, the identifying whether the current position of the robot is located at the boundary of the designated area specifically includes the following steps: analyzing whether the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation or not according to the reference coordinate information of the reference point in the designated area; when the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area; and when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside the designated area.
Further preferably, the analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes the following steps: analyzing whether the coordinate distance between the reference coordinate information and the position coordinate information is larger than a preset coordinate distance or not; when the coordinate distance between the reference coordinate information and the position coordinate information is not larger than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets a preset coordinate relationship; and when the coordinate distance between the reference coordinate information and the position coordinate information is greater than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information does not meet the preset coordinate relationship.
Further preferably, the analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes the following steps: analyzing whether the abscissa magnitude relation between the reference coordinate information and the position coordinate information meets a preset abscissa magnitude relation; analyzing whether a vertical coordinate size relationship between the reference coordinate information and the position coordinate information meets a preset vertical coordinate size relationship; when the abscissa size relationship meets a preset abscissa size relationship and the ordinate size relationship meets a preset ordinate size relationship, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets the preset coordinate relationship; otherwise, analyzing that the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation.
Further preferably, before analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship according to the reference coordinate information of the reference point in the designated area, the method further includes the following steps: when the designated area is a circular designated area, selecting the circle center of the circular designated area as a reference point; and when the specified area is a rectangular specified area, selecting two vertexes on a diagonal line of the rectangular specified area as reference points.
The invention also provides a robot, comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information; identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot; and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
The present invention also provides a readable storage medium having stored thereon a computer program which when processed implements the steps of: acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information; identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot; and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
The invention also provides a processor, a computer program executable by the processor, the processor implementing the following steps when executing the program: acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information; identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot; and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
Compared with the prior art, the method and the robot for controlling the activity in the designated area have the following beneficial effects:
1. according to the invention, only a geomagnetic sensor is required to be arranged on the robot, acquired geomagnetic data is converted into position coordinate information, and the robot is limited to move in a designated area by combining the position coordinate information; is particularly suitable for large-scale market environments; even when the moving area of the robot needs to be changed at the later stage, manpower and material resources do not need to be spent on reconstruction on site; without adding extra deployment cost. Moreover, the position correction and the like can be carried out without additionally adding hardware equipment.
2. The method for identifying whether the current position of the robot is located at the boundary of the designated area has more types and strong flexibility, and different identification schemes can be selected for the designated areas with different shapes; therefore, the identification method of the designated areas with different shapes is better; the method is not only beneficial to simplifying the identification method, but also can simplify the program, so that the system can stably run.
3. The invention utilizes the number of the intersection points of the boundary of the single side to identify whether the current position of the robot is positioned in the designated area, has universality and is suitable for the designated area with any shape.
4. The invention utilizes the coordinate distance between the coordinates to identify whether the current position of the robot is located in the designated area, is particularly suitable for a round designated area, and belongs to the preferred scheme; the method is not only beneficial to simplifying the identification method, but also can simplify the program, so that the system can stably run.
5. The invention utilizes the size relationship between the horizontal and vertical coordinates to identify whether the current position of the robot is located in the designated area, is particularly suitable for the rectangular designated area and belongs to the preferred scheme; the method is not only beneficial to simplifying the identification method, but also can simplify the program, so that the system can stably run.
Drawings
The above features, technical features, advantages and implementations of a method and a robot for controlling activities in a specified area will be further explained in the following preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
FIG. 1 is a flow chart illustrating a method of controlling activity in a designated area in accordance with the present invention;
FIG. 2 is a schematic flow chart diagram of another method of controlling activity in a designated area in accordance with the present invention;
FIG. 3 is a flow chart illustrating a further method of controlling activity in a designated area in accordance with the present invention;
FIG. 4 is a flow chart illustrating another method of controlling activity in a designated area in accordance with the present invention;
FIG. 5 is a schematic flow chart diagram of another method of controlling activity in a designated area in accordance with the present invention;
FIG. 6 is a schematic diagram of the robot of the present invention within a designated area;
FIG. 7 is a block diagram schematically illustrating the construction of a robot according to the present invention;
the reference numbers illustrate:
10-memory 20-processor
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
According to an embodiment of the present invention, as shown in fig. 1, a method for controlling activities in a designated area includes:
s10, acquiring geomagnetic data of the current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
s20, identifying whether the current position of the robot is in a specified area or not according to the position coordinate information of the current position of the robot;
s30, when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme; the preset scheme comprises stopping, backing, waiting and the like.
And S40, when the current position of the robot is in the designated area, the robot runs according to the planned path.
Optionally, firstly, a plane map of the place where the robot is located is established; and acquiring geomagnetic fingerprint data of each position coordinate point in the plane map to generate a geomagnetic fingerprint map. Collecting indoor geomagnetic fingerprint information; and superposing the geomagnetic fingerprint to each coordinate point of the indoor map so as to obtain geomagnetic fingerprint data of each coordinate point of the indoor map.
Specifically, the place where the robot is located is a shopping mall, and at least one area is planned in the shopping mall and used as a designated area; when the robot moves in the designated area of the market, the geomagnetic data of the position where the robot is located is obtained in real time through the geomagnetic sensor arranged on the robot.
The method is characterized in that geomagnetic data does not need to be converted into position coordinate information, and whether the robot moves in a designated area or not is judged directly according to the relation between the geomagnetic data of the position where the robot is located and the geomagnetic fingerprint data of each coordinate point of a market map.
In another mode, the geomagnetic data is converted into position coordinate information according to the geomagnetic data obtained by the robot and the market map coordinates corresponding to the geomagnetic fingerprint data of each coordinate point of the market map, so that specific coordinates of the robot can be obtained. In the process of converting geomagnetic data into position coordinate information, correction can be performed, so that the position coordinate information is more accurate. By comparing the coordinate ranges and utilizing a set theory, whether the robot moves in the designated area can be obtained.
The following actions, but not limited thereto, stopping, backing, waiting, performing and the like can be performed when the robot reaches the corresponding designated area boundary or exceeds the designated area boundary according to specific requirements.
According to another embodiment of the present invention, as shown in fig. 2, a method for controlling activities in a designated area includes:
s10, acquiring geomagnetic data of the current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
s201, according to the position coordinate information of the current position of the robot, a reference line passing through the current position of the robot is planned, and a boundary intersection point formed by the intersection of the reference line and the boundary line of the specified area is analyzed;
s202, calculating the number of single-side intersection points of the boundary intersection points positioned at two opposite sides of the robot;
s203, when the number of the single-side intersection points is an odd number, identifying that the current position of the robot is located in a designated area;
and S204, when the number of the single-side intersection points is even, identifying that the current position of the robot is located outside a specified area.
S30, when the current position of the robot is located outside a specified area, controlling the robot to adjust the running state of the robot according to a preset scheme;
and S40, when the current position of the robot is located in the designated area, the robot operates according to the planned path.
Alternatively, the designated area of robot activity may be any shape, such as a regular polygon, an irregular polygon, a circle, and so forth. The method comprises the following steps of planning a reference line passing through the current position of the robot, specifically comprising the following reference line planning modes:
a reference line passing through the current position of the robot is planned in parallel with a horizontal axis in the coordinate system; or a reference line which is parallel to the position where the robot is currently located at the longitudinal axis planning position in the coordinate system; or intersecting with a horizontal axis or a longitudinal axis in the coordinate system to plan a reference line passing through the current position of the robot;
one way is that: directly analyzing and planning a boundary intersection point formed by intersecting a reference line which is parallel to a horizontal axis or a vertical axis and intersects with the horizontal axis or the vertical axis and the boundary line of the designated area; and calculating the number of the single-side intersection points of the boundary intersection points positioned at the two opposite sides of the robot.
The other mode is as follows: before calculating the number of the single-side intersection points of the boundary intersection points positioned at the two opposite sides of the robot, the method further comprises the following steps:
analyzing the number of boundary intersection points formed by the intersection of each reference line and the boundary line of the designated area in the planned reference lines which are parallel to the horizontal axis or the vertical axis and intersect with the horizontal axis or the vertical axis;
and selecting a reference line with the minimum number of boundary intersections and boundary intersections formed by intersecting the reference line and the boundary line of the specified area.
Specifically, when the designated area is a polygon, a boundary intersection point formed by intersecting a reference line passing through the current position of the robot and a polygon boundary line is stored in a list; comparing the size of the abscissa and the ordinate of each boundary intersection point in the boundary intersection point list with the current position of the robot; it is possible to identify on which of the opposite sides of the robot the boundary intersection points are located (e.g. left, right); and counting the number of the single-side intersection points of each side of the two opposite sides of the robot. If the number of the single-side intersection points positioned on the left side of the current position of the robot is odd, the current position of the robot is in the polygon, otherwise, the current position of the robot is outside the polygon. Traversing each edge of the polygon, performing intersection test with a coordinate point of the robot, and counting the number of times of intersection, wherein the number of times of intersection is an odd number, the number of times of intersection is within the polygon.
If the designated area is in the shape shown in fig. 6, the boundary intersection 1 and the boundary intersection 2 are formed by intersecting the boundary line of the designated area through the reference line which is parallel to the horizontal axis of the coordinate system and passes through the current position of the robot. Calculating the number of the boundary intersection points on the left side of the robot to be 1, namely the boundary intersection points 1; and calculating the number of the one-side intersection points of which the boundary intersection points are positioned on the right side of the robot to be 1, namely the boundary intersection point 2. And if the number of the single-side intersection points is odd, the current position of the robot is identified to be located in the designated area.
According to still another embodiment of the present invention, as shown in fig. 3, a method for controlling activities in a designated area includes:
s10, acquiring geomagnetic data of the current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
s211, analyzing whether a coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation or not according to the reference coordinate information of the reference point in the designated area;
s212, when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside a specified area.
S213, when the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area;
s30, when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme;
and S40, when the current position of the robot is in the designated area, the robot runs according to the planned path.
Specifically, the robot obtains absolute coordinate values, and the indoor map coordinates and the magnetic stripe data are also in one-to-one correspondence, so that the shape of the activity area plan of the robot is not limited at all.
According to the fact that the designated area is different in shape, the identification method corresponding to the shape can be selected to identify whether the current position of the robot is located in the designated area.
For example: if the designated area is circular, whether the current position of the robot is located in the designated area can be identified by whether the distance from the current position of the robot to the center of the circle is larger than the radius of the circle.
If the designated area is circular, the relationship between the current position of the robot and the abscissa and the ordinate of the boundary point can be used to identify whether the current position of the robot is located in the designated area.
According to another embodiment of the present invention, as shown in fig. 4, a method for controlling activities in a designated area includes:
s10, acquiring geomagnetic data of the current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
optionally, S2111, when the designated area is a circular designated area, selecting a circle center of the circular designated area as a reference point;
s2113, analyzing whether the coordinate distance between the reference coordinate information and the position coordinate information is larger than a preset coordinate distance;
s2116, when the coordinate distance between the reference coordinate information and the position coordinate information is not greater than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets a preset coordinate relationship;
s2117, when the coordinate distance between the reference coordinate information and the position coordinate information is larger than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information does not meet the preset coordinate relationship.
S212, when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside a specified area.
S213, when the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area;
s30, when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme;
and S40, when the current position of the robot is in the designated area, the robot runs according to the planned path.
Specifically, for example, if a central point coordinate is given, the robot is restricted to expand corresponding activities within a circular range with the central point as the center and the radius of 50m, then the area planning shape is circular.
The preset coordinate distance can be set to be a circle radius (50m) or be smaller than the circle radius (47m), and a certain space allowance is reserved to prevent the robot from moving out of a designated area; calculating the coordinate distance between the current position of the robot and the central point, and analyzing whether the coordinate distance is larger than the radius of 50 m; if the radius is not larger than 50m, analyzing that the current position of the robot is located in the circular designated area; otherwise, analyzing that the current position of the robot is located outside the circular designated area.
The calculation mode belongs to an optimal scheme, can greatly reduce the calculation amount, not only can improve the calculation speed, but also can greatly simplify the program, so that the system can stably run.
And a plurality of key points at the boundary of the circular designated area can be given, and whether the current position of the robot is located in the circular designated area can be identified according to the coordinate relation between the current position of the robot and the plurality of key points.
According to another embodiment of the present invention, as shown in fig. 5, a method for controlling activities in a designated area includes:
s10, acquiring geomagnetic data of the current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
optionally, S2112, when the designated area is a rectangular designated area, selecting two vertexes on a diagonal line of the rectangular designated area as reference points;
s2114, analyzing whether the abscissa size relationship between the reference coordinate information and the position coordinate information meets a preset abscissa size relationship;
s2115, analyzing whether the size relationship of the vertical coordinate between the reference coordinate information and the position coordinate information meets the preset size relationship of the vertical coordinate;
s2116, when the abscissa size relationship meets a preset abscissa size relationship and the ordinate size relationship meets a preset ordinate size relationship, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets the preset coordinate relationship;
s2117, if not, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information does not meet the preset coordinate relationship.
S212, when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside a specified area.
S213, when the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area;
s30, when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme;
and S40, when the current position of the robot is in the designated area, the robot runs according to the planned path.
Specifically, if a rectangular designated area having diagonal coordinates (x1, y1), (x2, y2) is planned on the map, the magnetic field data collected by the robot is converted into position coordinates (xr, yr). Namely, the reference points in the rectangular designated area are a pair of diagonal coordinate points, the abscissa size relationship between the position coordinate information of the robot and the reference coordinate information (diagonal coordinates) is calculated, and the ordinate size relationship between the position coordinate information of the robot and the reference coordinate information (diagonal coordinates) is calculated; when the abscissa of only one diagonal coordinate is smaller than the abscissa of the position coordinate and the ordinate of only one diagonal coordinate is smaller than the ordinate of the position coordinate, if (xr-x1) × (xr-x2) ≦ 0, (yr-y1) × (yr-y2) ≦ 0, then the robot is currently located within the rectangular designated area; otherwise, the current position of the robot is outside the specified area of the rectangle.
When the shape of a given region is arbitrary polygon, theoretically, if the key points are dense enough, the region boundary may become an arbitrary curve. The flexibility is very high.
According to an embodiment of the present invention, as shown in fig. 7, a robot includes a memory 10, a processor 20, and a computer program stored on the memory 10 and executable by the processor 20, wherein the processor 20 implements the following steps when executing the program:
acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot;
and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
Optionally, when the current position of the robot is located in the designated area, the robot operates according to a planned path.
Optionally, the method further includes the following steps when the processor 20 executes the program:
a scheme for identifying whether the current position of the robot is in a specified area specifically comprises the following steps:
planning a reference line passing through the current position of the robot according to the position coordinate information of the current position of the robot, and analyzing a boundary intersection point formed by the intersection of the reference line and the boundary line of the designated area;
calculating the number of the single-side intersection points of the boundary intersection points positioned at the two opposite sides of the robot;
when the number of the single-side intersection points is an odd number, identifying that the current position of the robot is located in a designated area;
and when the number of the single-side intersection points is an even number, identifying that the current position of the robot is located outside the designated area.
Alternatively, the step of identifying whether the current position of the robot is in a specified area specifically comprises the following steps:
analyzing whether the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation or not according to the reference coordinate information of the reference point in the designated area;
and when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside the designated area.
When the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area;
in one embodiment, analyzing whether a coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes:
when the designated area is a circular designated area, selecting the circle center of the circular designated area as a reference point;
analyzing whether the coordinate distance between the reference coordinate information and the position coordinate information is larger than a preset coordinate distance or not;
when the coordinate distance between the reference coordinate information and the position coordinate information is not larger than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets a preset coordinate relationship;
and when the coordinate distance between the reference coordinate information and the position coordinate information is greater than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information does not meet the preset coordinate relationship.
In another scheme, analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes:
when the designated area is a rectangular designated area, selecting two vertexes on a diagonal line of the rectangular designated area as reference points;
analyzing whether the abscissa magnitude relation between the reference coordinate information and the position coordinate information meets a preset abscissa magnitude relation;
analyzing whether a vertical coordinate size relationship between the reference coordinate information and the position coordinate information meets a preset vertical coordinate size relationship;
when the abscissa size relationship meets a preset abscissa size relationship and the ordinate size relationship meets a preset ordinate size relationship, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets the preset coordinate relationship;
otherwise, analyzing that the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation.
For specific relevant descriptions, reference may be made to relevant descriptions in the method embodiments, which are not described herein again.
According to an embodiment of the invention, a readable storage medium is provided, on which a computer program is stored, which when executed by a processor performs the steps of:
acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot;
and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
Optionally, when the current position of the robot is located in the designated area, the robot operates according to a planned path.
Optionally, the method further includes the following steps when the processor 20 executes the program:
a scheme for identifying whether the current position of the robot is in a specified area specifically comprises the following steps:
planning a reference line passing through the current position of the robot according to the position coordinate information of the current position of the robot, and analyzing a boundary intersection point formed by the intersection of the reference line and the boundary line of the designated area;
calculating the number of the single-side intersection points of the boundary intersection points positioned at the two opposite sides of the robot;
when the number of the single-side intersection points is an odd number, identifying that the current position of the robot is located in a designated area;
and when the number of the single-side intersection points is an even number, identifying that the current position of the robot is located outside the designated area.
Alternatively, the step of identifying whether the current position of the robot is in a specified area specifically comprises the following steps:
analyzing whether the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation or not according to the reference coordinate information of the reference point in the designated area;
and when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside the designated area.
When the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area;
in one embodiment, analyzing whether a coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes:
when the designated area is a circular designated area, selecting the circle center of the circular designated area as a reference point;
analyzing whether the coordinate distance between the reference coordinate information and the position coordinate information is larger than a preset coordinate distance or not;
when the coordinate distance between the reference coordinate information and the position coordinate information is not larger than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets a preset coordinate relationship;
and when the coordinate distance between the reference coordinate information and the position coordinate information is greater than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information does not meet the preset coordinate relationship.
In another scheme, analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes:
when the designated area is a rectangular designated area, selecting two vertexes on a diagonal line of the rectangular designated area as reference points;
analyzing whether the abscissa magnitude relation between the reference coordinate information and the position coordinate information meets a preset abscissa magnitude relation;
analyzing whether a vertical coordinate size relationship between the reference coordinate information and the position coordinate information meets a preset vertical coordinate size relationship;
when the abscissa size relationship meets a preset abscissa size relationship and the ordinate size relationship meets a preset ordinate size relationship, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets the preset coordinate relationship;
otherwise, analyzing that the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation.
For specific relevant descriptions, reference may be made to relevant descriptions in the method embodiments, which are not described herein again.
According to an embodiment of the present invention, a processor 20, a computer program executable by the processor 20, wherein the processor 20 executes the computer program to implement the following steps:
acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot;
and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
Optionally, when the current position of the robot is located in the designated area, the robot operates according to a planned path.
Optionally, the method further includes the following steps when the processor 20 executes the program:
a scheme for identifying whether the current position of the robot is in a specified area specifically comprises the following steps:
planning a reference line passing through the current position of the robot according to the position coordinate information of the current position of the robot, and analyzing a boundary intersection point formed by the intersection of the reference line and the boundary line of the designated area;
calculating the number of the single-side intersection points of the boundary intersection points positioned at the two opposite sides of the robot;
when the number of the single-side intersection points is an odd number, identifying that the current position of the robot is located in a designated area;
and when the number of the single-side intersection points is an even number, identifying that the current position of the robot is located outside the designated area.
Alternatively, the step of identifying whether the current position of the robot is in a specified area specifically comprises the following steps:
analyzing whether the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation or not according to the reference coordinate information of the reference point in the designated area;
and when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside the designated area.
When the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area;
in one embodiment, analyzing whether a coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes:
when the designated area is a circular designated area, selecting the circle center of the circular designated area as a reference point;
analyzing whether the coordinate distance between the reference coordinate information and the position coordinate information is larger than a preset coordinate distance or not;
when the coordinate distance between the reference coordinate information and the position coordinate information is not larger than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets a preset coordinate relationship;
and when the coordinate distance between the reference coordinate information and the position coordinate information is greater than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information does not meet the preset coordinate relationship.
In another scheme, analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a preset coordinate relationship specifically includes:
when the designated area is a rectangular designated area, selecting two vertexes on a diagonal line of the rectangular designated area as reference points;
analyzing whether the abscissa magnitude relation between the reference coordinate information and the position coordinate information meets a preset abscissa magnitude relation;
analyzing whether a vertical coordinate size relationship between the reference coordinate information and the position coordinate information meets a preset vertical coordinate size relationship;
when the abscissa size relationship meets a preset abscissa size relationship and the ordinate size relationship meets a preset ordinate size relationship, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets the preset coordinate relationship;
otherwise, analyzing that the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation.
For specific relevant descriptions, reference may be made to relevant descriptions in the method embodiments, which are not described herein again.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of controlling activity in a designated area, comprising the steps of:
acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot;
and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
2. The method of claim 1, wherein the step of identifying whether the robot is currently located at the boundary of the designated area comprises the following steps:
planning a reference line passing through the current position of the robot, and analyzing a boundary intersection point formed by the intersection of the reference line and the boundary line of the designated area;
calculating the number of the single-side intersection points of the boundary intersection points positioned at the two opposite sides of the robot;
when the number of the single-side intersection points is an odd number, identifying that the current position of the robot is located in a designated area;
and when the number of the single-side intersection points is an even number, identifying that the current position of the robot is located outside the designated area.
3. The method according to claim 2, wherein the step of planning a reference line passing through the current position of the robot comprises the following steps:
a reference line passing through the current position of the robot is planned in parallel with a horizontal axis or a longitudinal axis in the coordinate system;
or;
and a reference line passing through the current position of the robot is planned by intersecting the horizontal axis or the vertical axis in the coordinate system.
4. The method of claim 1, wherein the step of identifying whether the robot is currently located at the boundary of the designated area comprises the following steps:
analyzing whether the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation or not according to the reference coordinate information of the reference point in the designated area;
when the coordinate relation between the reference coordinate information and the position coordinate information meets a preset coordinate relation, identifying that the current position of the robot is located in a designated area;
and when the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation, identifying that the current position of the robot is located outside the designated area.
5. The method as claimed in claim 4, wherein the step of analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a predetermined coordinate relationship specifically comprises the steps of:
analyzing whether the coordinate distance between the reference coordinate information and the position coordinate information is larger than a preset coordinate distance or not;
when the coordinate distance between the reference coordinate information and the position coordinate information is not larger than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets a preset coordinate relationship;
and when the coordinate distance between the reference coordinate information and the position coordinate information is greater than a preset coordinate distance, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information does not meet the preset coordinate relationship.
6. The method as claimed in claim 4, wherein the step of analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies a predetermined coordinate relationship specifically comprises the steps of:
analyzing whether the abscissa magnitude relation between the reference coordinate information and the position coordinate information meets a preset abscissa magnitude relation;
analyzing whether a vertical coordinate size relationship between the reference coordinate information and the position coordinate information meets a preset vertical coordinate size relationship;
when the abscissa size relationship meets a preset abscissa size relationship and the ordinate size relationship meets a preset ordinate size relationship, analyzing that the coordinate relationship between the reference coordinate information and the position coordinate information meets the preset coordinate relationship;
otherwise, analyzing that the coordinate relation between the reference coordinate information and the position coordinate information does not meet the preset coordinate relation.
7. A method for controlling activities in a specified area according to any of claims 4 to 6, wherein the method further comprises the following steps before analyzing whether the coordinate relationship between the reference coordinate information and the position coordinate information satisfies the preset coordinate relationship according to the reference coordinate information of the reference point in the specified area:
when the designated area is a circular designated area, selecting the circle center of the circular designated area as a reference point;
and when the specified area is a rectangular specified area, selecting two vertexes on a diagonal line of the rectangular specified area as reference points.
8. A robot for use in a method of controlling activities in a specified area according to any of claims 1 to 7, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of:
acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot;
and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
9. A readable storage medium for use in a method of controlling activity in a specified area as claimed in any one of claims 1 to 7, having a computer program stored thereon, which when executed performs the steps of:
acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot;
and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
10. A processor for use in a method of controlling activity in a specified area as claimed in any one of claims 1 to 7, a computer program executable on the processor, wherein the processor when executing the program performs the steps of:
acquiring geomagnetic data of a current position of the robot on a geomagnetic fingerprint map, and converting the geomagnetic data into position coordinate information;
identifying whether the current position of the robot is in a designated area or not according to the position coordinate information of the current position of the robot;
and when the current position of the robot is not in the designated area, controlling the robot to adjust the running state of the robot according to a preset scheme.
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