CN111158374A - Repositioning method, repositioning system, mobile robot and storage medium - Google Patents
Repositioning method, repositioning system, mobile robot and storage medium Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention is suitable for the technical field of mobile robots, and provides a repositioning method, a repositioning system, a mobile robot and a storage medium, wherein the repositioning method comprises the following steps: acquiring a first attribute identifier of a region to be operated; acquiring preset environment map data, wherein the environment map data comprises a second attribute identifier; when the first attribute identification is consistent with the second attribute identification, acquiring environment map data consistent with the attribute identification of the area to be operated; obtaining local environment data of a to-be-operated area, comparing the local environment data with environment map data with consistent attribute identification of the to-be-operated area, and obtaining map data corresponding to the environment data with the matching rate larger than a preset threshold value so as to realize relocation. According to the method and the device, the first attribute identifier and the second attribute identifier are acquired, and the map data are identified in a dual-identifier mode, so that the accuracy of map relocation is improved, and the phenomenon of misjudgment of relocation caused by similar environments is prevented.
Description
Technical Field
The invention belongs to the technical field of mobile robots, and particularly relates to a repositioning method, a repositioning system, a mobile robot and a storage medium.
Background
The mobile robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can perform actions according to a principle schema established by an artificial intelligence technology. The task of mobile robots today is to assist or replace human work, such as production, construction, or dangerous work. The mobile robot can construct a map about the scene according to a map construction algorithm, and then perform location-based work based on the constructed map. However, in some cases, the mobile robot has a need for relocation, where relocation refers to randomly placing the mobile robot into a known map environment, and the mobile robot can find its own coordinates in the map. For example: when the mobile robot is restarted after shutdown, there will be a need for repositioning.
According to the existing mobile robot relocation scheme, peripheral environment data are detected by adopting a laser radar, the environment data are compared with prestored data, and the current position and the current environment of the mobile robot are judged. And then the mobile robot cannot accurately determine the position of the current point, so that an error exists when the mobile robot executes a task.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is that the map relocation accuracy is low due to the adoption of single environment data matching.
The embodiment of the invention is realized in such a way that a relocation method comprises the following steps:
acquiring a first attribute identifier of the area to be operated;
acquiring preset environment map data, wherein the environment map data comprises a second attribute identifier;
when the first attribute identification is consistent with the second attribute identification, acquiring environment map data consistent with the attribute identification of the area to be operated;
obtaining local environment data of a to-be-operated area, comparing the local environment data with environment map data with consistent attribute identification of the to-be-operated area, and obtaining map data corresponding to the environment data with the matching rate larger than a preset threshold value so as to realize relocation.
It is another object of an embodiment of the present invention to provide a relocation system, including:
a first attribute identifier acquiring unit, configured to acquire a first attribute identifier of the to-be-operated area;
the environment map data acquisition unit is used for acquiring preset environment map data, and the environment map data comprises a second attribute identifier;
the environment map data determining unit is used for acquiring environment map data consistent with the attribute identifier of the area to be operated when the first attribute identifier is consistent with the second attribute identifier;
and the repositioning unit is used for acquiring local environment data of the to-be-operated area, comparing the local environment data with environment map data with consistent attribute identification of the to-be-operated area, and acquiring map data corresponding to the environment data with the matching rate greater than a preset threshold value so as to realize repositioning.
It is another object of an embodiment of the present invention to provide a mobile robot, including a storage device for storing a computer program and a processor for executing the computer program to make the mobile robot execute the above-mentioned relocation method.
It is another object of an embodiment of the present invention to provide a storage medium storing a computer program used in the mobile robot, wherein the computer program realizes the steps of the repositioning method when executed by a processor.
According to the embodiment of the invention, through the design of obtaining the first attribute identification and the second attribute identification, the map data is identified in a dual identification mode, the accuracy of map relocation is improved, and the phenomenon of low accuracy caused by single environment data matching is prevented.
Drawings
Fig. 1 is a flowchart of a relocation method provided in a first embodiment of the present invention;
FIG. 2 is a flow chart of a relocation method provided by a second embodiment of the present invention;
FIG. 3 is a flow chart of a relocation method provided by a second embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a relocation system provided in a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a mobile robot according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the embodiment of the invention, through the design of obtaining the first attribute identification and the second attribute identification, the map data is identified in a dual identification mode, the accuracy of map relocation is improved, and the phenomenon of low accuracy caused by single environment data matching is prevented.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
Referring to fig. 1, a flowchart of a relocation method according to a first embodiment of the present invention includes the following steps:
step S10, acquiring a first attribute identifier of the area to be operated;
in the embodiment of the present invention, the first attribute identifier may be an image feature identifier, an air pressure value identifier, a magnetic field intensity identifier, a wifi intensity identifier, or any combination thereof, and the first attribute identifier is used to perform feature identification on the to-be-operated area, so as to prevent misjudgment caused by similar environments between different to-be-operated areas.
Wherein, the combination that adopts multiple sign can avoid appearing the error under the similar environment, for example the room of same environment in many in the same floor, can adopt the combination of multiple attribute sign to treat the mark of operation region this moment, for example, the combination of the sign of atmospheric pressure and WIFI intensity can be accurately treated the operation region and marked, and it facilitates to obtain the unanimous environment map data of attribute sign in step S30, avoids appearing the error.
In the embodiment of the present invention, the second attribute identifier may be obtained through an image sensor, an air pressure sensor, or a magnetic induction sensor provided on the mobile robot itself, or may be received from other smart devices, such as a mobile terminal.
Step S20, acquiring preset environment map data, wherein the environment map data comprises a first attribute identifier;
in the embodiment of the present invention, the preset environment map data is an environment map in which the mobile robot works, which is established in advance, and may be stored in units of a working area, for example, when the mobile robot works for a first building, the environment map data corresponding to the first building is obtained, and the environment map data is updated in real time according to a change in environment.
In the embodiment of the present invention, the first attribute identifier may be an image feature identifier, an air pressure value identifier, a magnetic field intensity identifier, a wifi intensity identifier, or a combination thereof, and the first attribute identifier is used to perform feature identification on map data, so as to prevent misjudgment caused by similar environments between different map data.
Step S30, when the first attribute flag is consistent with the second attribute flag, acquiring the environment map data consistent with the attribute flag of the area to be worked.
In the embodiment of the invention, the corresponding map data is acquired through the acquisition of the first attribute identifier and the second attribute identifier and based on the identification between the second attribute identifier and the first attribute identifier, so that errors caused by similar maps or similar floors are prevented.
Specifically, in this step, when the first attribute identifier and the second attribute identifier are the air pressure value identifiers, the first attribute identifier is obtained by obtaining the current air pressure value of the mobile robot, and since the air pressures on different floors are different, the wrong positioning caused by similar maps in the same building is prevented.
When the first attribute identification and the second attribute identification are magnetic field intensity identifications, the first attribute identification is obtained by acquiring the magnetic field intensity between the mobile robot and the preset magnetic field source, and because the magnetic field intensity between different floors and the preset magnetic field source is different, the wrong positioning caused by similar maps in the same building is prevented.
When the first attribute identification and the second attribute identification are wifi intensity identifications, signal intensity between the mobile robot and the preset router is obtained, and the first attribute identification is obtained.
In the embodiment of the present invention, the environment map data consistent with the attribute identifier of the area to be operated may include multiple maps, that is, multiple maps may be included under the same attribute identifier, for example, when the first attribute identifier is an air pressure identifier, the first attribute identifier is under the same air pressure, for example, on the same floor, and the environment map may include multiple maps.
Step S40, obtaining local environment data of the to-be-worked area, comparing the local environment data with environment map data of the to-be-worked area having a consistent attribute identifier, and obtaining map data corresponding to the environment data having a matching rate greater than a preset threshold, so as to implement relocation.
In the embodiment of the present invention, the local environment data may be obtained by using a laser radar or a camera for shooting, specifically, the mobile robot is provided with a laser scanning radar or a camera, and the environment information may be obtained by controlling the laser radar or the camera, and the local environment data may be drawn by obtaining based on the environment information.
In the embodiment of the present invention, the local environment data is compared with the environment map data with the consistent attribute identifier of the to-be-made operation area, to obtain the map data corresponding to the environment data with the matching rate greater than the preset threshold, specifically, the map data may be compared according to image parameters, wall parameters, and the like, and specifically, when the image characteristic parameters are used for comparison, the map data corresponding to the environment data with the matching rate greater than the preset threshold is obtained by performing image matching on the local image stored in the local environment data and the local image stored in the pre-stored environment data and according to the matching result. When wall characteristic parameters are adopted for comparison, geometric characteristics among wall line segments in the local environment data are analyzed, and geometric parameter matching is carried out according to the geometric characteristics and pre-stored environment data, so that map data corresponding to the environment data with the matching rate larger than a preset threshold value are obtained.
Preferably, when the matching rate between the local environment data and the pre-stored environment data is judged to be smaller than a preset threshold value, performing comprehensive environment recognition on the area to be operated, reestablishing a map according to a recognition result, and storing the reestablished map to the pre-stored environment data;
in the embodiment of the invention, the map data corresponding to the environment data with the matching rate larger than the preset threshold value is designed by judging the consistency of the first attribute identifier and the second attribute identifier, so that the first map data screening effect is achieved, the map data obtained after screening possibly comprises a plurality of map data, errors caused by the same identifier are prevented by judging the matching rate of the environment data, and the relocation processing is carried out after the screening of the attribute data, so that the errors caused by similar environments can be solved, and the map relocation accuracy is improved.
Furthermore, the environment maps belonging to the same attribute identifier are identified through the attribute identifier, and the relocation mode is realized according to the map data corresponding to more environment data with the matching rate larger than the preset threshold value, so that repeated relocation is avoided, and the operation steps are saved. It can be understood that, in this embodiment, the map data with the matching rate greater than the preset threshold may be obtained by matching the environment data of the area to be operated with the pre-stored map data, then the actually matched map data is obtained according to the consistency of the first attribute identifier of the area to be operated and the second attribute identifier of the screened map data, and the relocation process is performed.
The preset threshold may be a specific numerical value, for example, the matching rate reaches 80%, and the preset threshold may be specifically set according to an actual situation, which is not limited in the present invention.
In the embodiment, the map data is identified in a dual identification mode by acquiring the first attribute identification and the second attribute identification, so that the accuracy of map relocation is improved, and the phenomenon of low accuracy caused by single environment data matching is prevented.
Example two
Referring to fig. 2, a flowchart of a relocation method according to a second embodiment of the present invention is shown, including the steps of:
step S11, acquiring the air pressure value of the area to be operated through a preset air pressure gauge, and determining the first attribute identification according to the air pressure value;
wherein the step of determining the first attribute identifier according to the air pressure value may be:
setting the air pressure value obtained by the barometer as the second attribute identification; or
Matching the air pressure value obtained by the barometer with a preset air pressure meter to obtain an air pressure grade, and setting the air pressure grade as the second attribute identifier; or
Calculating the air pressure value obtained by the barometer based on a preset formula algorithm to obtain a calculated value, and setting the calculated value as the second attribute identifier;
referring to fig. 3, preferably, the step S11 may further include:
step S110, acquiring an air pressure value of the area to be operated through a preset air pressure meter;
step S111, receiving a reference air pressure value sent by a preset base station;
the preset base station can set quantity or position areas according to requirements, and is used for providing a reference air pressure value;
step S112, acquiring the second attribute identifier according to the difference value between the air pressure value and the reference air pressure value;
the design of obtaining the first attribute identifier through the difference value between the air pressure value and the reference air pressure value effectively prevents air pressure value errors caused by weather and climate and improves the accuracy of the first attribute identifier.
Step S21, acquiring preset environment map data, wherein the environment map data comprises a first attribute identifier;
in the embodiment of the present invention, the first attribute identifier may be an image feature identifier, an air pressure value identifier, a magnetic field intensity identifier, a wifi intensity identifier, or a combination thereof, and the first attribute identifier is used to perform feature identification on map data, so as to prevent misjudgment caused by similar environments between different map data.
In the embodiment of the present invention, the preset environment map data is an environment map in which the mobile robot works, which is established in advance, and may be stored in units of a working area, for example, when the mobile robot works for a first building, the environment map data corresponding to the first building is obtained, and the environment map data is updated in real time according to a change in environment.
Specifically, map data of a plurality of areas to be operated in similar environments are established, and corresponding attribute identifications are added to the map data.
The attribute identifier can be set autonomously according to requirements, for example, the attribute identifier can be light intensity, sound wave intensity or volume intensity in a preset induction area, that is, the attribute identifier is set in similar but different environments, so that the corresponding map data can be acquired in a multi-recognition mode when the map is relocated.
For example, areas a, B and C belong to similar environments, the attribute in the map data corresponding to the area a is identified as a1, the attribute in the map data corresponding to the area B is identified as B1, and the attribute in the map data corresponding to the area C is identified as C1, so that the relocation error caused by the similar environments is further prevented by the difference setting among the a1, B1 and C1.
Step S31, when the first attribute identifier is consistent with the second attribute identifier, acquiring environment map data consistent with the attribute identifier of the area to be worked;
in the embodiment of the invention, the corresponding map data is acquired through the acquisition of the first attribute identifier and the second attribute identifier and based on the identification between the second attribute identifier and the first attribute identifier, so that errors caused by similar maps or similar floors are prevented.
Specifically, in this step, when the first attribute identifier and the second attribute identifier are the air pressure value identifiers, the first attribute identifier is obtained by obtaining the current air pressure value of the mobile robot, and since the air pressures on different floors are different, the wrong positioning caused by similar maps in the same building is prevented.
When the first attribute identification and the second attribute identification are magnetic field intensity identifications, the first attribute identification is obtained by acquiring the magnetic field intensity between the mobile robot and the preset magnetic field source, and because the magnetic field intensity between different floors and the preset magnetic field source is different, the wrong positioning caused by similar maps in the same building is prevented.
When the first attribute identification and the second attribute identification are wifi intensity identifications, signal intensity between the mobile robot and the preset router is obtained, and the first attribute identification is obtained.
And when the second attribute identifier is judged to be inconsistent with the first attribute identifier, respectively calculating attribute difference values between the second attribute identifier and all the first attribute identifiers, and judging whether the minimum value in the attribute difference values is smaller than a preset difference value.
And when the minimum value is judged to be smaller than the preset difference value, carrying out map loading according to the map data corresponding to the minimum value, and carrying out relocation according to the map data corresponding to the minimum value.
And when the minimum value is not smaller than the preset difference value, judging that the current relocation fails, and sending a relocation failure prompt to a preset communication port.
Step S41, obtaining local environment data of the to-be-worked area, comparing the local environment data with environment map data of the to-be-worked area having a consistent attribute identifier, and obtaining map data corresponding to the environment data having a matching rate greater than a preset threshold, so as to implement relocation.
In the embodiment of the present invention, the local environment data is compared with the environment map data with the consistent attribute identifier of the to-be-made operation area, to obtain the map data corresponding to the environment data with the matching rate greater than the preset threshold, specifically, the map data may be compared according to image parameters, wall parameters, and the like, and specifically, when the image characteristic parameters are used for comparison, the map data corresponding to the environment data with the matching rate greater than the preset threshold is obtained by performing image matching on the local image stored in the local environment data and the local image stored in the pre-stored environment data and according to the matching rate matching result. When wall characteristic parameters are adopted for comparison, geometric characteristics among wall line segments in the local environment data are analyzed, and geometric parameter matching is carried out according to the geometric characteristics and pre-stored environment data, so that map data corresponding to the environment data with the matching rate larger than a preset threshold value are obtained.
Preferably, when the matching rate between the local environment data and the pre-stored environment data is judged to be smaller than the preset threshold, the comprehensive environment recognition is performed on the area to be operated, the map is reestablished according to the recognition result, and the reestablished map is stored in the pre-stored environment data.
In the embodiment of the invention, the map data corresponding to the environment data with the matching rate larger than the preset threshold value is designed by judging the consistency of the first attribute identifier and the second attribute identifier, so that the first map data screening effect is achieved, the map data obtained after screening possibly comprises a plurality of map data, errors caused by the same identifier are prevented by judging the matching rate of the environment data, and the relocation processing is carried out after the screening of the attribute data, so that the errors caused by similar environments can be solved, and the map relocation accuracy is improved.
Furthermore, the environment maps belonging to the same attribute identifier are identified through the attribute identifier, and the relocation mode is realized according to the map data corresponding to more environment data with the matching rate larger than the preset threshold value, so that repeated relocation is avoided, and the operation steps are saved. It can be understood that, in this embodiment, the map data with the matching rate greater than the preset threshold may be obtained by matching the environment data of the area to be operated with the pre-stored map data, then the actually matched map data is obtained according to the consistency of the first attribute identifier of the area to be operated and the second attribute identifier of the screened map data, and the relocation process is performed.
In the embodiment of the present invention, when the relocation fails, the map data of the area to be operated is reestablished, for example, when there are a plurality of map data whose matching rates are greater than a preset threshold, it indicates that there is an error in the relocation process, and at this time, the map data may be reestablished.
The method comprises the steps that comprehensive environment recognition is conducted on an area to be operated, and a map is reestablished according to recognition results, so that a reestablished map is obtained;
and setting the currently acquired first attribute identifier as a second attribute identifier of the reconstructed map, and storing the reconstructed map with the set identifier into the pre-stored environmental data.
Step S51, acquiring the environmental information and the historical job data after relocation;
step S61, adjusting the current operation strategy according to the relocated environment information and the historical operation data;
in order to improve the working efficiency of the mobile robot, the operation strategies corresponding to different environment information may be different, and therefore, after the map is relocated, the operation strategies need to be planned again.
Preferably, the historical job data stores job policies corresponding to different pieces of environment information, and therefore, in this step, the relocated environment information is matched with the historical job data to query a target job policy, and the policy adjustment is performed on the mobile robot according to the queried target job policy, so as to guarantee the job efficiency of the mobile robot.
In the embodiment, the map data is identified in a dual identification mode by acquiring the first attribute identification and the second attribute identification, so that the accuracy of map relocation is improved, and the phenomenon of low accuracy caused by single environment data matching is prevented.
EXAMPLE III
Referring to fig. 4, a schematic structural diagram of a relocation system 100 according to a third embodiment of the present invention is shown, including: a first attribute identification obtaining unit 10, an environment map data obtaining unit 11, an environment map data determining unit 12, and a relocating unit 13, wherein:
a second attribute identifier obtaining unit 10, configured to obtain a first attribute identifier of the area to be operated;
an environment map data obtaining unit 11, configured to obtain preset environment map data, where the environment map data includes a second attribute identifier;
an environment map data determining unit 12, configured to acquire, when the first attribute identifier is consistent with the second attribute identifier, environment map data consistent with the attribute identifier of the area to be operated.
The relocation unit 13 is configured to obtain local environment data of the area to be operated, compare the local environment data with environment map data of the area to be operated, where the attribute identifiers of the area to be operated are consistent, and obtain map data corresponding to the environment data with a matching rate greater than a preset threshold, so as to implement relocation.
Wherein, the first attribute identifier obtaining unit 10 is further configured to: acquiring the air pressure value of the area to be operated through a preset air pressure meter; and determining the first attribute identification according to the air pressure value.
Preferably, the first attribute identifier obtaining unit 10 is further configured to: acquiring the air pressure value of the area to be operated through a preset air pressure meter; receiving a reference air pressure value sent by a preset base station; and acquiring the second attribute identifier according to the difference between the air pressure value and the reference air pressure value.
Further, the relocation module 13 is further configured to: acquiring the environmental information and historical operation data after relocation; and adjusting the current operation strategy according to the relocated environment information and the historical operation data.
Further, the relocation module 13 is further configured to: and when the relocation fails, reestablishing the map data of the area to be operated.
In addition, in this embodiment, the relocation system 100 further includes:
an attribute marking unit 14 for creating map data of a plurality of areas to be worked of similar environments; and adding corresponding attribute identification in the map data.
In the embodiment, the map data is identified in a dual identification mode by acquiring the first attribute identification and the second attribute identification, so that the accuracy of map relocation is improved, and the phenomenon of low accuracy caused by single environment data matching is prevented.
Example four
Referring to fig. 5, a mobile robot 101 according to a fourth embodiment of the present invention includes a storage device and a processor, where the storage device is used to store a computer program, and the processor runs the computer program to make the mobile robot 101 execute the above-mentioned relocation method.
The operation mode of the robot device may be, but is not limited to, cleaning operation (e.g., cleaning dust, leaves, snow, etc.), search operation, search and rescue operation, etc. Accordingly, the robot apparatus may be a cleaning robot (e.g., a floor sweeping robot, a commercial floor washing robot, a vacuum cleaner, etc.), a search and rescue robot, an exploration robot, etc. that needs to be repositioned.
The present embodiment also provides a storage medium on which a computer program used in the above-described mobile robot 101 is stored, which when executed, includes the steps of:
acquiring a first attribute identifier of the area to be operated;
acquiring preset environment map data, wherein the environment map data comprises a second attribute identifier;
and when the first attribute identification is consistent with the second attribute identification, acquiring the environment map data consistent with the attribute identification of the area to be operated.
Obtaining local environment data of a to-be-operated area, comparing the local environment data with environment map data with consistent attribute identification of the to-be-operated area, and obtaining map data corresponding to the environment data with the matching rate larger than a preset threshold value so as to realize relocation. The storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is used as an example, in practical applications, the above-mentioned function distribution may be performed by different functional units or modules according to needs, that is, the internal structure of the storage device is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
It will be understood by those skilled in the art that the component structures shown in fig. 4 are not intended to limit the repositioning system of the present invention and may include more or fewer components than shown, or some components in combination, or a different arrangement of components, and that the repositioning method of fig. 1-3 may be implemented using more or fewer components than shown in fig. 4, or some components in combination, or a different arrangement of components. The units, modules, etc. referred to herein are a series of computer programs capable of being executed by a processor (not shown) in the target relocation system and capable of performing specific functions, all of which may be stored in a storage device (not shown) of the target relocation system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A relocation method, characterized in that it comprises the steps of:
acquiring a first attribute identifier of the area to be operated;
acquiring preset environment map data, wherein the environment map data comprises a second attribute identifier;
when the first attribute identification is consistent with the second attribute identification, acquiring environment map data consistent with the attribute identification of the area to be operated;
obtaining local environment data of a to-be-operated area, comparing the local environment data with environment map data with consistent attribute identification of the to-be-operated area, and obtaining map data corresponding to the environment data with the matching rate larger than a preset threshold value so as to realize relocation.
2. The relocation method according to claim 1, wherein said obtaining the first attribute identifier of the area to be worked includes:
acquiring the air pressure value of the area to be operated through a preset air pressure meter;
and determining the first attribute identification according to the air pressure value.
3. The relocation method according to claim 1, wherein said obtaining the first attribute identifier of the area to be worked includes:
acquiring the air pressure value of the area to be operated through a preset air pressure meter;
receiving a reference air pressure value sent by a preset base station;
and acquiring the first attribute identifier according to the difference between the air pressure value and the reference air pressure value.
4. The relocating method according to claim 1, wherein after obtaining the map data corresponding to the environment data with the degree of identity greater than a preset threshold value to implement the relocating, the method further comprises:
acquiring the environmental information and historical operation data after relocation;
and adjusting the current operation strategy according to the relocated environment information and the historical operation data.
5. The relocation method according to any one of claims 1 to 4, further comprising:
establishing map data of a plurality of areas to be operated in similar environments;
and adding corresponding attribute identification in the map data.
6. The relocation method according to claim 1, further comprising:
and when the relocation fails, reestablishing the map data of the area to be operated.
7. A relocation system, characterized in that the system comprises:
a first attribute identifier acquiring unit, configured to acquire a first attribute identifier of the to-be-operated area;
the environment map data acquisition unit is used for acquiring preset environment map data, and the environment map data comprises a second attribute identifier;
the environment map data determining unit is used for acquiring environment map data consistent with the attribute identifier of the area to be operated when the first attribute identifier is consistent with the second attribute identifier;
and the repositioning unit is used for acquiring local environment data of the to-be-operated area, comparing the local environment data with environment map data with consistent attribute identification of the to-be-operated area, and acquiring map data corresponding to the environment data with the matching rate greater than a preset threshold value so as to realize repositioning.
8. The relocation system according to claim 7, wherein said first attribute identification obtaining unit is further for:
acquiring the air pressure value of the area to be operated through a preset air pressure meter;
and determining the first attribute identification according to the air pressure value.
9. A mobile robot comprising a storage device for storing a computer program and a processor running the computer program to cause the mobile robot to perform the repositioning method according to any of claims 1 to 6.
10. A storage medium, characterized in that it stores a computer program for use in a mobile robot according to claim 9, which computer program, when being executed by a processor, carries out the steps of the relocation method according to any one of claims 1 to 6.
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Application publication date: 20200515 |